feat(env): add origin of relative actions space to info dict

Author: juelg

python/rcs/envs/base.py

@@ -544,7 +544,7 @@ class RelativeTo(Enum):
     NONE = auto()
 
 
-class RelativeActionSpace(gym.ActionWrapper):
+class RelativeActionSpace(ActObsInfoWrapper):
     DEFAULT_MAX_CART_MOV = 0.5
     DEFAULT_MAX_CART_ROT = np.deg2rad(90)
     DEFAULT_MAX_JOINT_MOV = np.deg2rad(5)
@@ -765,6 +765,15 @@ def action(self, action: dict[str, Any]) -> dict[str, Any]:
             raise RuntimeError(msg)
         return action
 
+    def observation(self, observation: dict, info: dict[str, Any]) -> tuple[dict[str, Any], dict[str, Any]]:
+        if self._origin is not None:
+            info["action_origin"] = (
+                list(self._origin.translation()) + list(self._origin.rotation_q())
+                if isinstance(self._origin, common.Pose)
+                else self._origin
+            )
+        return observation, info
+
 
 class CameraSetWrapper(ActObsInfoWrapper):
     RGB_KEY = "rgb"