EEF limtis or Fallen Object + EVAL done triggered every rollout if EEF breaches limit

[rojas70]

Currently, when EEF limtis + EVAL are running, and those limits are violated, every rollout in the EVAL gets terminated early on. This continues until the eval number of steps/rollouts is completed.

The same thing happens if an object falls.

• Should we accept this behavior? The behavior should be common early on but improve as the robot learns.
• Should we turn off this limits with a flag (todo)?
• The code does not crash, but you get a null evaluation result.

[rojas70]

After further revision, it seems that EEF workspace works well.

• commit 2ede60e76d7ca1460f38b9fb7d9db3d7177bc7af in picking_env fixed many bugs.

1. Still, after a fallen_object, if we are using HER, reset_internal() L1306 gets called (self.update_object_goal_her_poses()) but here, new observables have not yet been updated and the setting of an old object triggers an exception.

• observables are not yet set in base.py:MujocoEnv.reset() (that will be called at the end of reset internal). Would moving to after the setup of observables work?

2. Checks for fallen objects happens inside picking.py._get_obs(), which gets called in the picking.py.step() method under a control loop (about 30 cycles per policy step).

• Could add a check for the flag... if true, no more checking.