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Fix floating-base fail check replay divergence #49

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Merged
stepjam merged 1 commit into from
Jun 13, 2026
Merged

Fix floating-base fail check replay divergence #49

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16 changes: 13 additions & 3 deletions bigym/bigym_env.py
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Original file line number Diff line number Diff line change
Expand Up @@ -477,9 +477,19 @@ def _success(self) -> bool:

def _fail(self) -> bool:
"""Check if the episode is failed."""
return (
np.linalg.norm(self._robot.pelvis.get_position()) > MAX_DISTANCE_FROM_ORIGIN
)
if self._robot.floating_base:
pelvis_position = np.zeros(3)
pelvis_bind = self._mojo.physics.bind(self._robot.pelvis.mjcf)
for i, actuator in enumerate(self._robot.floating_base.position_actuators):
if actuator:
pelvis_position[i] = self._mojo.physics.bind(
actuator.joint
).qpos.item()
else:
pelvis_position[i] = pelvis_bind.pos[i]
else:
pelvis_position = self._robot.pelvis.get_position()
return np.linalg.norm(pelvis_position) > MAX_DISTANCE_FROM_ORIGIN

def _reward(self) -> float:
"""Get current episode reward."""
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