| 43 | |
| 44 | |
| 45 | class VecTaskPythonWrapper(VecTaskPython): |
| 46 | def __init__(self, task, rl_device, clip_observations=5.0, clip_actions=1.0): |
| 47 | super().__init__(task, rl_device, clip_observations, clip_actions) |
| 48 | |
| 49 | self._amp_obs_space = spaces.Box(np.ones(task.get_num_amp_obs()) * -np.Inf, np.ones(task.get_num_amp_obs()) * np.Inf) |
| 50 | return |
| 51 | |
| 52 | def reset(self, env_ids=None): |
| 53 | self.task.reset(env_ids) |
| 54 | return torch.clamp(self.task.obs_buf, -self.clip_obs, self.clip_obs).to(self.rl_device) |
| 55 | |
| 56 | @property |
| 57 | def amp_observation_space(self): |
| 58 | return self._amp_obs_space |
| 59 | |
| 60 | def fetch_amp_obs_demo(self, num_samples): |
| 61 | return self.task.fetch_amp_obs_demo(num_samples) |