def get_experience(self, insert_dummy=True):
batch = Batch(dummy=[])
for i in range(self.env_num):
#append to total batch
batch.append(self.buffers[i])
#set dummy key
if insert_dummy:
length = len(self.buffers[i])
batch.dummy += [False] * length
#append dummy item at the end if not done
if length:
if not batch[-1].done:
dummy_item = batch[-1:]
dummy_item.dummy = [True]
dummy_item.done = [True]
dummy_item.state = dummy_item.next_state
batch.append(dummy_item)
return batch.to_numpy()
