fancy_gym/alr_envs/alr/mujoco/reacher/mp_wrapper.py

from typing import Union

import numpy as np

from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper


class MPWrapper(RawInterfaceWrapper):

    @property
    def context_mask(self) -> np.ndarray:
        return np.concatenate([
            [False] * self.n_links,  # cos
            [False] * self.n_links,  # sin
            [True] * 2,  # goal position
            [False] * self.n_links,  # angular velocity
            [False] * 3,  # goal distance
            # self.get_body_com("target"),  # only return target to make problem harder
            [False],  # step
        ])

    # @property
    # def active_obs(self):
    #     return np.concatenate([
    #         [True] * self.n_links,  # cos, True
    #         [True] * self.n_links,  # sin, True
    #         [True] * 2,  # goal position
    #         [True] * self.n_links,  # angular velocity, True
    #         [True] * 3,  # goal distance
    #         # self.get_body_com("target"),  # only return target to make problem harder
    #         [False],  # step
    #     ])

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

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

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