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[gym/common] Call '_refresh_inernal' before 'refresh_observation'. #384

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Jul 25, 2021
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[gym/common] Call '_refresh_inernal' before 'refresh_observation'. #384

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39 changes: 23 additions & 16 deletions python/gym_jiminy/common/gym_jiminy/common/envs/env_generic.py
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Original file line number Diff line number Diff line change
Expand Up @@ -142,7 +142,7 @@ def __init__(self,
# Note that reseting the seed also reset robot internal state.
self.seed()

# Set robot in neutral configuration for rendering
# Set robot in neutral configuration
qpos = self._neutral()
framesForwardKinematics(
self.robot.pinocchio_model, self.robot.pinocchio_data, qpos)
Expand Down Expand Up @@ -588,6 +588,9 @@ def reset(self,
self.simulator.start(
qpos, qvel, None, self.simulator.use_theoretical_model)

# Update shared buffers
self._refresh_internal()

# Initialize the observer.
# Note that it is responsible of refreshing the environment's
# observation before anything else, so no need to do it twice.
Expand All @@ -597,9 +600,6 @@ def reset(self,
self.system_state.v,
self.sensors_data)

# Update shared buffers
self._refresh_internal()

# Make sure the state is valid, otherwise there `refresh_observation`
# and `_refresh_observation_space` are probably inconsistent.
try:
Expand Down Expand Up @@ -683,6 +683,9 @@ def step(self,
# Do a single step
self.simulator.step(self.step_dt)

# Update shared buffers
self._refresh_internal()

# Update the observer at the end of the step. Indeed, internally,
# it is called at the beginning of the every integration steps,
# during the controller update.
Expand All @@ -692,9 +695,6 @@ def step(self,
self.system_state.v,
self.sensors_data)

# Update shared buffers
self._refresh_internal()

# Update some internal buffers
is_step_failed = False
except RuntimeError as e:
Expand Down Expand Up @@ -1000,6 +1000,11 @@ def _setup(self) -> None:
self.robot.set_options(robot_options)
self.simulator.engine.set_options(engine_options)

# Set robot in neutral configuration
qpos = self._neutral()
framesForwardKinematics(
self.robot.pinocchio_model, self.robot.pinocchio_data, qpos)

def _refresh_observation_space(self) -> None:
"""Configure the observation of the environment.

Expand Down Expand Up @@ -1085,8 +1090,13 @@ def _refresh_internal(self) -> None:
"""Refresh internal buffers.

.. note::
This method is called by `step` method, right after
`refresh_observation`, so it is the right place to update .
This method is called right after every internal `engine.step`, so
it is the right place to update shared data between `is_done` and
`compute_reward`. Be careful when using it to share data with
`refresh_observation`, but the later is called at `self.observe_dt`
update period, which the others are called at `self.step_dt` update
period. `self.observe_dt` is likely to different from `self.step`,
unless configured otherwise by overloading `_setup` method.
"""

def refresh_observation(self) -> None: # type: ignore[override]
Expand Down Expand Up @@ -1145,15 +1155,12 @@ def is_done(self, *args: Any, **kwargs: Any) -> bool:
"""Determine whether the episode is over.

By default, it returns True if the observation reaches or exceeds the
lower or upper limit.
lower or upper limit. It must be overloaded to implement a custom
termination condition for the simulation.

.. note::
This method is called right after calling `refresh_observation`, so
that the internal buffer '_observation' is up-to-date. It can be
overloaded to implement a custom termination condition for the
simulation. Moreover, as it is called before `compute_reward`, it
can be used to update some share intermediary computations to avoid
redundant calculus and thus improve efficiency.
This method is called after `refresh_observation`, so that the
internal buffer '_observation' is up-to-date.

:param args: Extra arguments that may be useful for derived
environments, for example `Gym.GoalEnv`.
Expand Down