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add contextual obs option to invalid trajectory callback

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This commit is contained in:
Hongyi Zhou
2022-11-25 22:34:46 +01:00
parent c242c32a41
commit 2735e0bf24
3 changed files with 19 additions and 17 deletions
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fancy_gym/black_box/black_box_wrapper.py
+8 -9
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@@ -169,8 +169,6 @@ class BlackBoxWrapper(gym.ObservationWrapper):
infos = dict()
done = False
if traj_is_valid:
self.plan_steps += 1
for t, (pos, vel) in enumerate(zip(position, velocity)):
@@ -207,18 +205,19 @@ class BlackBoxWrapper(gym.ObservationWrapper):
infos.update({k: v[:t+1] for k, v in infos.items()})
self.current_traj_steps += t + 1
if self.verbose >= 2:
infos['positions'] = position
infos['velocities'] = velocity
infos['step_actions'] = actions[:t + 1]
infos['step_observations'] = observations[:t + 1]
infos['step_rewards'] = rewards[:t + 1]
if self.verbose >= 2:
infos['positions'] = position
infos['velocities'] = velocity
infos['step_actions'] = actions[:t + 1]
infos['step_observations'] = observations[:t + 1]
infos['step_rewards'] = rewards[:t + 1]
infos['trajectory_length'] = t + 1
trajectory_return = self.reward_aggregation(rewards[:t + 1])
return self.observation(obs), trajectory_return, done, infos
else:
obs, trajectory_return, done, infos = self.env.invalid_traj_callback(action, position, velocity)
obs, trajectory_return, done, infos = self.env.invalid_traj_callback(action, position, velocity,
self.return_context_observation)
return self.observation(obs), trajectory_return, done, infos
def render(self, **kwargs):