32 lines
874 B
Python
32 lines
874 B
Python
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from typing import Union
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import numpy as np
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from mp_env_api import MPEnvWrapper
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class MPWrapper(MPEnvWrapper):
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@property
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def active_obs(self):
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return np.concatenate([
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[True] * self.n_links, # cos
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[True] * self.n_links, # sin
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[True] * 2, # goal position
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[True] * self.n_links, # angular velocity
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[True] * 3, # goal distance
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# self.get_body_com("target"), # only return target to make problem harder
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[False], # step
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])
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@property
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def current_vel(self) -> Union[float, int, np.ndarray]:
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return self.sim.data.qvel.flat[:self.n_links]
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@property
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def current_pos(self) -> Union[float, int, np.ndarray]:
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return self.sim.data.qpos.flat[:self.n_links]
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@property
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def dt(self) -> Union[float, int]:
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return self.env.dt
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