22 lines
800 B
Python
22 lines
800 B
Python
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from abc import ABC
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from typing import Tuple, Union
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import numpy as np
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from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
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class BaseMetaworldMPWrapper(RawInterfaceWrapper, ABC):
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@property
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def current_pos(self) -> Union[float, int, np.ndarray]:
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r_close = self.env.data.get_joint_qpos("r_close")
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# TODO check if this is correct
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# return np.hstack([self.env.data.get_body_xpos('hand').flatten() / self.env.action_scale, r_close])
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return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
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@property
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def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
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# TODO check if this is correct
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return np.zeros(4, )
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# raise NotImplementedError("Velocity cannot be retrieved.")
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