Merge pull request #35 from yang-zj1026/main

Include time_outs in environment info for PPO

examples/locomotion/go2_env.py

@@ -150,6 +150,11 @@ def step(self, actions):
         self.reset_buf = self.episode_length_buf > self.max_episode_length
         self.reset_buf |= torch.abs(self.base_euler[:, 1]) > self.env_cfg["termination_if_pitch_greater_than"]
         self.reset_buf |= torch.abs(self.base_euler[:, 0]) > self.env_cfg["termination_if_roll_greater_than"]
+
+        time_out_idx = (self.episode_length_buf > self.max_episode_length).nonzero(as_tuple=False).flatten()
+        self.extras["time_outs"] = torch.zeros_like(self.reset_buf, device=self.device, dtype=gs.tc_float)
+        self.extras["time_outs"][time_out_idx] = 1.0
+
         self.reset_idx(self.reset_buf.nonzero(as_tuple=False).flatten())
 
         # compute reward