How to use dictionary observation space ?

[giangdao1402]

How can I use dictionary observation space with skrl in IsaacLab ?
Currently, I try using

        obs_dict = {
            "policy": observations,
            "image_latents": self.image_latents
        }
        obs_tensor = self._observation_to_tensor(obs_dict)
        return obs_tensor

but i can not find the function _observation_to_tensor

[Toni-SM]

Hi @giangdao1402

Sorry for late reply.

Methods such as _observation_to_tensor were removed in favor of the spaces utils.

Here is an example of its use:

skrl/skrl/utils/model_instantiators/torch/deterministic.py

Lines 85 to 86 in 90adbbc

	states = unflatten_tensorized_space(self.observation_space, inputs.get("states"))
	taken_actions = unflatten_tensorized_space(self.action_space, inputs.get("taken_actions"))