34 lines
940 B
Python
34 lines
940 B
Python
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from abc import abstractmethod
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from typing import Union
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import gym
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import numpy as np
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class MPEnv(gym.Env):
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@property
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@abstractmethod
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def corrected_obs_index(self):
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"""Returns boolean value for each observation entry
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whether the observation is returned by the DMP for the contextual case or not.
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This effectively allows to filter unwanted or unnecessary observations from the full step-based case.
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"""
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raise NotImplementedError()
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@property
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@abstractmethod
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def start_pos(self) -> Union[float, int, np.ndarray]:
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"""
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Returns the current position of the joints
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"""
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raise NotImplementedError()
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@property
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def goal_pos(self) -> Union[float, int, np.ndarray]:
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"""
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Returns the current final position of the joints for the MP.
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By default this returns the starting position.
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"""
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return self.start_pos
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