fancy_gym/alr_envs/open_ai/reacher_v2/mp_wrapper.py

from typing import Union

import numpy as np
from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper


class MPWrapper(MPEnvWrapper):

    @property
    def current_vel(self) -> Union[float, int, np.ndarray]:
        return self.sim.data.qvel[:2]

    @property
    def current_pos(self) -> Union[float, int, np.ndarray]:
        return self.sim.data.qpos[:2]

    @property
    def goal_pos(self):
        return self.goal

    @property
    def dt(self) -> Union[float, int]:
        return self.env.dt