updates

alr_envs/utils/dmp_async_vec_env.py

@@ -96,7 +96,7 @@ class DmpAsyncVectorEnv(gym.vector.AsyncVectorEnv):
         # return (deepcopy(self.observations) if self.copy else self.observations,
         #         np.array(rewards), np.array(dones, dtype=np.bool_), infos)
 
-        return np.array(rewards)
+        return np.array(rewards), infos
 
     def rollout(self, actions):
         self.rollout_async(actions)
@@ -134,6 +134,7 @@ def _worker(index, env_fn, pipe, parent_pipe, shared_memory, error_queue):
                 env.seed(data)
                 pipe.send((None, True))
             elif command == 'close':
+                env.close()
                 pipe.send((None, True))
                 break
             elif command == 'idle':

alr_envs/utils/dmp_env_wrapper.py

@@ -113,18 +113,19 @@ class DmpEnvWrapperVel(DmpEnvWrapperBase):
         trajectory, velocities = self.dmp.reference_trajectory(self.t)
 
         rews = []
+        infos = []
 
         self.env.reset()
 
         for t, vel in enumerate(velocities):
             obs, rew, done, info = self.env.step(vel)
             rews.append(rew)
+            infos.append(info)
             if render:
                 self.env.render(mode="human")
             if done:
                 break
 
         reward = np.sum(rews)
-        info = {}
 
         return obs, reward, done, info