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Future proofing: Accesing attributes of other wrappers needs to be

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explicit in future gymnasium versions
This commit is contained in:
Dominik Moritz Roth 2023-09-18 18:37:46 +02:00
parent 513bf2361e
commit 592f09789d
1 changed files with 4 additions and 4 deletions
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8
fancy_gym/black_box/black_box_wrapper.py
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@ -99,8 +99,8 @@ class BlackBoxWrapper(gym.ObservationWrapper):
init_time = np.array(
0 if not self.do_replanning else self.current_traj_steps * self.dt)
condition_pos = self.condition_pos if self.condition_pos is not None else self.current_pos
condition_vel = self.condition_vel if self.condition_vel is not None else self.current_vel
condition_pos = self.condition_pos if self.condition_pos is not None else self.env.get_wrapper_attr('current_pos')
condition_vel = self.condition_vel if self.condition_vel is not None else self.env.get_wrapper_attr('current_vel')
self.traj_gen.set_initial_conditions(
init_time, condition_pos, condition_vel)
@ -165,7 +165,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
self.plan_steps += 1
for t, (pos, vel) in enumerate(zip(position, velocity)):
step_action = self.tracking_controller.get_action(
pos, vel, self.current_pos, self.current_vel)
pos, vel, self.env.get_wrapper_attr('current_pos'), self.env.get_wrapper_attr('current_vel'))
c_action = np.clip(
step_action, self.env.action_space.low, self.env.action_space.high)
obs, c_reward, terminated, truncated, info = self.env.step(
@ -184,7 +184,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
if self.render_kwargs:
self.env.render(**self.render_kwargs)
if terminated or truncated or (self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action, t + 1 + self.current_traj_steps) and self.plan_steps < self.max_planning_times):
if terminated or truncated or (self.replanning_schedule(self.env.get_wrapper_attr('current_pos'), self.env.get_wrapper_attr('current_vel'), obs, c_action, t + 1 + self.current_traj_steps) and self.plan_steps < self.max_planning_times):
if self.condition_on_desired:
self.condition_pos = pos