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fix(grasp-evaluator): timeout check references loop index (+1 more) #14

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fix(grasp-evaluator): timeout check references loop index (+1 more) #14

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17 changes: 10 additions & 7 deletions grasp_evaluator/grasp_evaluator.py
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Original file line number Diff line number Diff line change
Expand Up @@ -447,16 +447,19 @@ def run_simulation(self):
while not all_done:

# If the simulation is taking too long, declare fail
if (timeit.default_timer() - loop_start > self.cfg['timeout']['other_modes']
and panda_fsms[i].state not in ['reorient', 'squeeze_no_gravity']) or (
timeit.default_timer()
- loop_start > self.cfg['timeout']['squeeze_no_gravity']
and panda_fsms[i].state == "squeeze_no_gravity"):
print("Timed out")
for i in range(len(self.env_handles)):
elapsed = timeit.default_timer() - loop_start
timed_out = False
for i in range(len(self.env_handles)):
if (elapsed > self.cfg['timeout']['other_modes']
and panda_fsms[i].state not in ['reorient', 'squeeze_no_gravity']) or (
elapsed > self.cfg['timeout']['squeeze_no_gravity']
and panda_fsms[i].state == "squeeze_no_gravity"):
timed_out = True
if panda_fsms[i].state != "done":
panda_fsms[i].state = "done"
panda_fsms[i].timed_out = True
if timed_out:
print("Timed out")

for i in range(len(self.env_handles)):
panda_fsms[i].update_previous_particle_state_tensor()
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