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Fix: Return for invalid trajectories did not follow new gym spec

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This commit is contained in:
Dominik Moritz Roth 2023-06-11 13:43:10 +02:00
parent 6f1a36d18c
commit 80de15fd14
2 changed files with 6 additions and 5 deletions
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6
fancy_gym/black_box/black_box_wrapper.py
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@ -158,9 +158,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
done = False done = False
if not traj_is_valid: if not traj_is_valid:
obs, trajectory_return, done, infos = self.env.invalid_traj_callback(action, position, velocity, obs, trajectory_return, terminated, truncated, infos = self.env.invalid_traj_callback(action, position, velocity,
self.return_context_observation) self.return_context_observation)
return self.observation(obs), trajectory_return, done, infos return self.observation(obs), trajectory_return, terminated, truncated, infos
self.plan_steps += 1 self.plan_steps += 1
for t, (pos, vel) in enumerate(zip(position, velocity)): for t, (pos, vel) in enumerate(zip(position, velocity)):

5
fancy_gym/black_box/raw_interface_wrapper.py
View File

@ -108,7 +108,8 @@ class RawInterfaceWrapper(gym.Wrapper):
Returns: Returns:
obs: artificial observation if the trajectory is invalid, by default a zero vector obs: artificial observation if the trajectory is invalid, by default a zero vector
reward: artificial reward if the trajectory is invalid, by default 0 reward: artificial reward if the trajectory is invalid, by default 0
done: artificial done if the trajectory is invalid, by default True terminated: artificial terminated if the trajectory is invalid, by default True
truncated: artificial truncated if the trajectory is invalid, by default False
info: artificial info if the trajectory is invalid, by default empty dict info: artificial info if the trajectory is invalid, by default empty dict
""" """
return np.zeros(1), 0, True, {} return np.zeros(1), 0, True, False, {}