apple/wrappers.py

from typing import (
    Any,
    Dict,
    List,
    Tuple,
)

import gym
import numpy as np


class SuccessCounter(gym.Wrapper):
    """Helper class to keep count of successes in MetaWorld environments."""

    def __init__(self, env: gym.Env) -> None:
        super().__init__(env)
        self.successes = []
        self.current_success = False

    def step(self, action: Any) -> Tuple[np.ndarray, float, bool, Dict]:
        obs, reward, done, info = self.env.step(action)
        if info.get("success", False):
            self.current_success = True
        if done:
            self.successes.append(self.current_success)
        return obs, reward, done, info

    def pop_successes(self) -> List[bool]:
        res = self.successes
        self.successes = []
        return res

    def reset(self, **kwargs) -> np.ndarray:
        self.current_success = False
        return self.env.reset(**kwargs)