use forward call from parent class

vikashplus · Dec 3, 2023 · 15bda40 · 15bda40
1 parent 7c283f7
commit 15bda40
Showing 1 changed file with 1 addition and 14 deletions.
diff --git a/robohive/envs/myo/base_v0.py b/robohive/envs/myo/base_v0.py
@@ -115,17 +115,4 @@ def step(self, a, **kwargs):
                                         realTimeSim=self.mujoco_render_frames,
                                         render_cbk=self.mj_render if self.mujoco_render_frames else None)
 
-        # observation
-        obs = self.get_obs(**kwargs)
-
-        # rewards
-        self.expand_dims(self.obs_dict) # required for vectorized rewards calculations
-        self.rwd_dict = self.get_reward_dict(self.obs_dict)
-        self.squeeze_dims(self.rwd_dict)
-        self.squeeze_dims(self.obs_dict)
-
-        # finalize step
-        env_info = self.get_env_infos()
-
-        # returns obs(t+1), rwd(t+1), done(t+1), info(t+1)
-        return obs, env_info['rwd_'+self.rwd_mode], bool(env_info['done']), env_info
+        return self.forward(**kwargs)