bugfixes

alr_envs/black_box/black_box_wrapper.py

@@ -67,7 +67,9 @@ class BlackBoxWrapper(gym.ObservationWrapper):
 
     def observation(self, observation):
         # return context space if we are
-        return observation[self.env.context_mask] if self.return_context_observation else observation
+        obs = observation[self.env.context_mask] if self.return_context_observation else observation
+        # cast dtype because metaworld returns incorrect that throws gym error
+        return obs.astype(self.observation_space.dtype)
 
     def get_trajectory(self, action: np.ndarray) -> Tuple:
         clipped_params = np.clip(action, self.traj_gen_action_space.low, self.traj_gen_action_space.high)
@@ -147,7 +149,7 @@ class BlackBoxWrapper(gym.ObservationWrapper):
                 infos[k] = elems
 
             if self.render_kwargs:
-                self.render(**self.render_kwargs)
+                self.env.render(**self.render_kwargs)
 
             if done or self.replanning_schedule(self.current_pos, self.current_vel, obs, c_action,
                                                 t + 1 + self.current_traj_steps):
@@ -170,13 +172,13 @@ class BlackBoxWrapper(gym.ObservationWrapper):
     def render(self, **kwargs):
         """Only set render options here, such that they can be used during the rollout.
         This only needs to be called once"""
-        self.render_kwargs = kwargs or self.render_kwargs
+        self.render_kwargs = kwargs
         # self.env.render(mode=self.render_mode, **self.render_kwargs)
-        self.env.render(**self.render_kwargs)
+        # self.env.render(**self.render_kwargs)
 
     def reset(self, *, seed: Optional[int] = None, return_info: bool = False, options: Optional[dict] = None):
         self.current_traj_steps = 0
-        return super(BlackBoxWrapper, self).reset(seed=seed, return_info=return_info, options=options)
+        return super(BlackBoxWrapper, self).reset()
 
     def plot_trajs(self, des_trajs, des_vels):
         import matplotlib.pyplot as plt

alr_envs/black_box/controller/meta_world_controller.py

@@ -10,13 +10,12 @@ class MetaWorldController(BaseController):
     Unlike the other Controllers, this is a special tracking_controller for MetaWorld environments.
     They use a position delta for the xyz coordinates and a raw position for the gripper opening.
 
-    :param env: A position environment
     """
 
     def get_action(self, des_pos, des_vel, c_pos, c_vel):
         gripper_pos = des_pos[-1]
 
-        cur_pos = env.current_pos[:-1]
+        cur_pos = c_pos[:-1]
         xyz_pos = des_pos[:-1]
 
         assert xyz_pos.shape == cur_pos.shape, \

alr_envs/black_box/factory/controller_factory.py

@@ -18,4 +18,4 @@ def get_controller(controller_type: str, **kwargs):
         return MetaWorldController()
     else:
         raise ValueError(f"Specified controller type {controller_type} not supported, "
-                         f"please choose one of {ALL_TYPES}.")
+                         f"please choose one of {ALL_TYPES}.")