Merge pull request #185 from Federico-PizarroBejarano/remove_info_in_…

…reset

Removing info_in_reset

examples/cbf/config_overrides/cartpole_config.yaml

@@ -2,7 +2,6 @@ task_config:
   seed: 42
   ctrl_freq: 25
   pyb_freq: 1000
-  info_in_reset: True
 
   cost: quadratic
   task: stabilization

examples/hpo/gp_mpc/config_overrides/cartpole/cartpole_stab.yaml

@@ -28,7 +28,6 @@ task_config:
     pole_length: 0.5
     pole_mass: 0.1
   inertial_prop_randomization_info: null
-  info_in_reset: false
   init_state:
     init_x: 0.0
     init_x_dot: 0.0

examples/hpo/rl/config_overrides/cartpole/cartpole_stab.yaml

@@ -1,5 +1,4 @@
 task_config:
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/lqr/config_overrides/cartpole/cartpole_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/lqr/config_overrides/cartpole/cartpole_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/lqr/config_overrides/quadrotor_2D/quadrotor_2D_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/lqr/config_overrides/quadrotor_2D/quadrotor_2D_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/lqr/config_overrides/quadrotor_3D/quadrotor_3D_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/lqr/config_overrides/quadrotor_3D/quadrotor_3D_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/mpc/config_overrides/cartpole/cartpole_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/mpc/config_overrides/cartpole/cartpole_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/mpc/config_overrides/quadrotor_2D/quadrotor_2D_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/mpc/config_overrides/quadrotor_2D/quadrotor_2D_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/mpc/config_overrides/quadrotor_3D/quadrotor_3D_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/mpc/config_overrides/quadrotor_3D/quadrotor_3D_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/mpsc/config_overrides/cartpole/cartpole_stab.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/mpsc/config_overrides/cartpole/cartpole_track.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/mpsc/config_overrides/quadrotor_2D/quadrotor_2D_stab.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

examples/mpsc/config_overrides/quadrotor_2D/quadrotor_2D_track.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

examples/mpsc/config_overrides/quadrotor_3D/quadrotor_3D_stab.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

examples/no_controller/verbose_api.yaml

@@ -1,6 +1,5 @@
 cartpole_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 50
   gui: False
@@ -91,7 +90,6 @@ cartpole_config:
 
 quadrotor_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 60
   pyb_freq: 240
   gui: False

examples/pid/config_overrides/quadrotor_2D/quadrotor_2D_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/pid/config_overrides/quadrotor_2D/quadrotor_2D_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/pid/config_overrides/quadrotor_3D/quadrotor_3D_stabilization.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/pid/config_overrides/quadrotor_3D/quadrotor_3D_tracking.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   gui: False

examples/rl/config_overrides/cartpole/cartpole_stab.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/rl/config_overrides/cartpole/cartpole_track.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 42
-  info_in_reset: True
   ctrl_freq: 15
   pyb_freq: 750
   physics: pyb

examples/rl/config_overrides/quadrotor_2D/quadrotor_2D_stab.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

examples/rl/config_overrides/quadrotor_2D/quadrotor_2D_track.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

examples/rl/config_overrides/quadrotor_3D/quadrotor_3D_stab.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

examples/rl/config_overrides/quadrotor_3D/quadrotor_3D_track.yaml

@@ -1,6 +1,5 @@
 task_config:
   seed: 1337
-  info_in_reset: True
   ctrl_freq: 50
   pyb_freq: 1000
   physics: pyb

safe_control_gym/controllers/lqr/ilqr.py

@@ -58,7 +58,7 @@ def __init__(
         self.lamb_max = lamb_max
         self.epsilon = epsilon
 
-        self.env = env_func(info_in_reset=True, done_on_out_of_bound=True)
+        self.env = env_func(done_on_out_of_bound=True)
 
         # Controller params.
         self.model = self.get_prior(self.env)

safe_control_gym/envs/benchmark_env.py

@@ -54,7 +54,6 @@ class BenchmarkEnv(gym.Env, ABC):
     def __init__(self,
                  output_dir=None,
                  seed=None,
-                 info_in_reset: bool = False,
                  gui: bool = False,
                  verbose: bool = False,
                  normalized_rl_action_space: bool = False,
@@ -91,8 +90,6 @@ def __init__(self,
         Args:
             output_dir (str, optional): Path to directory to save any env outputs.
             seed (int, optional): Seed for the random number generator.
-            info_in_reset (bool, optional): Whether .reset() returns a dictionary with the
-                                            environment's symbolic model.
             gui (bool, optional): Whether to show PyBullet's GUI.
             verbose (bool, optional): If to suppress environment print statetments.
             normalized_rl_action_space (bool, optional): Whether to normalize the action space.
@@ -192,7 +189,6 @@ def __init__(self,
         self.seed(seed)
         self.initial_reset = False
         self.at_reset = False
-        self.INFO_IN_RESET = info_in_reset
 
     def seed(self,
              seed=None

safe_control_gym/envs/gym_control/cartpole.py

@@ -32,7 +32,6 @@ class CartPole(BenchmarkEnv):
     multiple cost functions, stabilization and trajectory tracking references.
 
     task_config:
-        info_in_reset: True
         randomized_inertial_prop: True
         inertial_prop_randomization_info:
             pole_length:
@@ -338,10 +337,7 @@ def reset(self, seed=None):
         obs, info = self._get_observation(), self._get_reset_info()
         obs, info = super().after_reset(obs, info)
         # Return either an observation and dictionary or just the observation.
-        if self.INFO_IN_RESET:
-            return obs, info
-        else:
-            return obs
+        return obs, info
 
     def render(self, mode='human'):
         '''Retrieves a frame from PyBullet rendering.

safe_control_gym/envs/gym_control/cartpole.yaml

@@ -1,5 +1,4 @@
 # Simulation options
-info_in_reset: False
 ctrl_freq: 50
 pyb_freq: 50
 gui: False

safe_control_gym/envs/gym_pybullet_drones/quadrotor.py

@@ -387,10 +387,7 @@ def reset(self, seed=None):
         obs, info = super().after_reset(obs, info)
 
         # Return either an observation and dictionary or just the observation.
-        if self.INFO_IN_RESET:
-            return obs, info
-        else:
-            return obs
+        return obs, info
 
     def step(self, action):
         '''Advances the environment by one control step.

safe_control_gym/envs/gym_pybullet_drones/quadrotor.yaml

@@ -1,5 +1,4 @@
 # Simulation options
-info_in_reset: False
 ctrl_freq: 60
 pyb_freq: 240
 physics: pyb

safe_control_gym/experiments/base_experiment.py

@@ -188,11 +188,8 @@ def _evaluation_reset(self, ctrl_data, sf_data, seed=None):
             obs (ndarray): The initial observation.
             info (dict): The initial info.
         '''
-        if self.env.INFO_IN_RESET:
-            obs, info = self.env.reset(seed=seed)
-        else:
-            obs = self.env.reset(seed=seed)
-            info = None
+        obs, info = self.env.reset(seed=seed)
+
         if ctrl_data is not None:
             for data_key, data_val in self.ctrl.results_dict.items():
                 ctrl_data[data_key].append(np.array(deepcopy(data_val)))
@@ -325,26 +322,17 @@ def clear_data(self):
     def reset(self, **kwargs):
         '''Wrapper for the gym.env reset function.'''
 
-        if self.env.INFO_IN_RESET:
-            obs, info = self.env.reset(**kwargs)
-            if 'symbolic_model' in info:
-                info.pop('symbolic_model')
-            if 'symbolic_constraints' in info:
-                info.pop('symbolic_constraints')
-            step_data = dict(
-                obs=obs, info=info, state=self.env.state
-            )
-            for key, val in step_data.items():
-                self.episode_data[key].append(val)
-            return obs, info
-        else:
-            obs = self.env.reset(**kwargs)
-            step_data = dict(
-                obs=obs, state=self.env.state
-            )
-            for key, val in step_data.items():
-                self.episode_data[key].append(val)
-            return obs
+        obs, info = self.env.reset(**kwargs)
+        if 'symbolic_model' in info:
+            info.pop('symbolic_model')
+        if 'symbolic_constraints' in info:
+            info.pop('symbolic_constraints')
+        step_data = dict(
+            obs=obs, info=info, state=self.env.state
+        )
+        for key, val in step_data.items():
+            self.episode_data[key].append(val)
+        return obs, info
 
     def step(self, action):
         '''Wrapper for the gym.env step function.'''