revert

Author: xyao-nv

isaaclab_arena/tasks/task_base.py

@@ -17,11 +17,10 @@
 
 class TaskBase(ABC):
 
+    DEFAULT_EPISODE_LENGTH_S: float = 20.0
+
     def __init__(self, episode_length_s: float | None = None, task_description: str | None = None):
-        # Coalesce None -> 20s here (not via a param default): subclasses declare
-        # `episode_length_s: float | None = None` and forward it verbatim, so a bare param default
-        # would be bypassed and leave episode_length_s = None for tasks built without an explicit value.
-        self.episode_length_s = episode_length_s if episode_length_s is not None else 20.0
+        self.episode_length_s = episode_length_s if episode_length_s is not None else self.DEFAULT_EPISODE_LENGTH_S
         self.task_description = task_description
 
     @abstractmethod