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Add _get_obs to fast environment #644

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Add _get_obs to fast environment #644

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35 changes: 12 additions & 23 deletions brax/envs/fast.py
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Original file line number Diff line number Diff line change
Expand Up @@ -68,26 +68,7 @@ def reset(self, rng: jax.Array) -> State:
xd=base.Motion.create(vel=jp.zeros(3)),
contact=None,
)
obs = {'state': jp.zeros(2)}
if self._asymmetric_obs:
obs['privileged_state'] = jp.zeros(4) # Dummy privileged state.
pixels = {
'pixels/view_0': jp.zeros((4, 4, 3)),
'pixels/view_1': jp.zeros((4, 4, 3)),
}
latent_pixels = {
'latent_pixels/view_0': jp.zeros(12),
'latent_pixels/view_1': jp.zeros(12),
}

if self._obs_mode == ObservationMode.DICT_PIXELS:
obs = pixels
elif self._obs_mode == ObservationMode.DICT_PIXELS_STATE:
obs = {**obs, **pixels}
elif self._obs_mode == ObservationMode.DICT_LATENT_STATE:
obs = {**obs, **latent_pixels}
elif self._obs_mode == ObservationMode.NDARRAY:
obs = obs['state']
obs = self._get_obs(pipeline_state=pipeline_state)

reward, done = jp.array(0.0), jp.array(0.0)
return State(pipeline_state, obs, reward, done)
Expand All @@ -102,6 +83,15 @@ def step(self, state: State, action: jax.Array) -> State:
x=state.pipeline_state.x.replace(pos=pos),
xd=state.pipeline_state.xd.replace(vel=vel),
)
obs = self._get_obs(pipeline_state=qp)

reward = pos[0]
return state.replace(pipeline_state=qp, obs=obs, reward=reward)

def _get_obs(self, pipeline_state: base.State) -> jax.Array:
"""Returns the environment observations."""
vel = pipeline_state.xd.vel
pos = pipeline_state.x.pos
obs = {'state': jp.array([pos[0], vel[0]])}
if self._asymmetric_obs:
obs['privileged_state'] = jp.zeros(4) # Dummy privileged state.
Expand All @@ -122,9 +112,8 @@ def step(self, state: State, action: jax.Array) -> State:
obs = {**obs, **latent_pixels}
elif self._obs_mode == ObservationMode.NDARRAY:
obs = obs['state']

reward = pos[0]
return state.replace(pipeline_state=qp, obs=obs, reward=reward)

return obs

@property
def reset_count(self):
Expand Down