FEATURE: Proprio dict not has time as one of the keys

vikashplus · Apr 13, 2023 · 8894dd5 · 8894dd5
1 parent 47f7f57
commit 8894dd5
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Showing 2 changed files with 6 additions and 5 deletions.
diff --git a/robohive/envs/env_base.py b/robohive/envs/env_base.py
@@ -404,17 +404,18 @@ def get_proprioception(self, obs_dict=None)->dict:
         if obs_dict==None: obs_dict = self.obs_dict
         proprio_vec = np.zeros(0)
         proprio_dict = {}
+        proprio_dict['time'] = obs_dict['time']
 
         for key in self.proprio_keys:
             proprio_vec = np.concatenate([proprio_vec, obs_dict[key]])
             proprio_dict[key] = obs_dict[key]
 
-        return obs_dict['time'], proprio_vec, proprio_dict
+        return proprio_dict['time'], proprio_vec, proprio_dict
 
 
     def get_exteroception(self, **kwargs)->dict:
         """
-        Get robot exterioception data. Usually incudes robot's onboard (visual, tactile, acoustic) sensors
+        Get robot exteroception data. Usually incudes robot's onboard (visual, tactile, acoustic) sensors
         """
         return self.get_visuals(**kwargs)
 

diff --git a/robohive/tests/test_envs.py b/robohive/tests/test_envs.py
@@ -35,7 +35,7 @@ def check_env(self, environment_id, input_seed):
         obs1, rwd1, done1, infos1 = env1.env.step(u.copy())
         infos1 = copy.deepcopy(infos1) #info points to internal variables.
         proprio1 = env1.env.get_proprioception()
-        exterio1 = env1.env.get_exteroception()
+        extero1 = env1.env.get_exteroception()
         assert len(obs1>0)
         # assert len(rwd1>0)
         # test dicts
@@ -61,10 +61,10 @@ def check_env(self, environment_id, input_seed):
         obs2, rwd2, done2, infos2 = env2.env.step(u)
         infos2 = copy.deepcopy(infos2)
         proprio2 = env2.env.get_proprioception()
-        exterio2 = env2.env.get_exteroception()
+        extero2 = env2.env.get_exteroception()
         torch.testing.assert_close(obs1, obs2)
         torch.testing.assert_close(proprio1, proprio2)
-        torch.testing.assert_close(exterio1, exterio2)
+        torch.testing.assert_close(extero1, extero2)
         torch.testing.assert_close(rwd1, rwd2)
         assert (done1==done2), (done1, done2)
         assert len(infos1)==len(infos2), (infos1, infos2)