Adopt new interface structure

alr_envs/__init__.py

@@ -573,7 +573,7 @@ register(
     entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
     kwargs={
         "name": "gym.envs.classic_control:MountainCarContinuous-v0",
-        "wrappers": [continuous_mountain_car.PositionalWrapper, continuous_mountain_car.MPWrapper],
+        "wrappers": [continuous_mountain_car.MPWrapper],
         "mp_kwargs": {
             "num_dof": 1,
             "num_basis": 4,
@@ -594,7 +594,7 @@ register(
     entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
     kwargs={
         "name": "gym.envs.mujoco:Reacher-v2",
-        "wrappers": [reacher_v2.PositionalWrapper, reacher_v2.MPWrapper],
+        "wrappers": [reacher_v2.MPWrapper],
         "mp_kwargs": {
             "num_dof": 2,
             "num_basis": 6,
@@ -615,7 +615,7 @@ register(
     entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
     kwargs={
         "name": "gym.envs.robotics:FetchSlideDense-v1",
-        "wrappers": [fetch.PositionalWrapper, fetch.MPWrapper],
+        "wrappers": [fetch.MPWrapper],
         "mp_kwargs": {
             "num_dof": 4,
             "num_basis": 5,
@@ -632,7 +632,7 @@ register(
     entry_point='alr_envs.utils.make_env_helpers:make_detpmp_env_helper',
     kwargs={
         "name": "gym.envs.robotics:FetchReachDense-v1",
-        "wrappers": [fetch.PositionalWrapper, fetch.MPWrapper],
+        "wrappers": [fetch.MPWrapper],
         "mp_kwargs": {
             "num_dof": 4,
             "num_basis": 5,

alr_envs/open_ai/continuous_mountain_car/__init__.py

@@ -1,2 +1 @@
-from alr_envs.open_ai.continuous_mountain_car.positional_wrapper import PositionalWrapper
 from alr_envs.open_ai.continuous_mountain_car.mp_wrapper import MPWrapper

alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py

@@ -1,12 +1,17 @@
 from typing import Union
 
+import numpy as np
 from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
 
 
 class MPWrapper(MPEnvWrapper):
     @property
-    def start_pos(self):
+    def current_vel(self) -> Union[float, int, np.ndarray]:
-        raise ValueError("Start position is not available")
+        return np.array([self.state[1]])
+
+    @property
+    def current_pos(self) -> Union[float, int, np.ndarray]:
+        return np.array([self.state[0]])
 
     @property
     def goal_pos(self):

alr_envs/open_ai/continuous_mountain_car/positional_wrapper.py

@@ -1,13 +0,0 @@
-from typing import Union
-import numpy as np
-from mp_env_api.env_wrappers.positional_env_wrapper import PositionalEnvWrapper
-
-
-class PositionalWrapper(PositionalEnvWrapper):
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray]:
-        return np.array([self.state[1]])
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray]:
-        return np.array([self.state[0]])

alr_envs/open_ai/fetch/__init__.py

@@ -1,2 +1 @@
-from alr_envs.open_ai.fetch.positional_wrapper import PositionalWrapper
 from alr_envs.open_ai.fetch.mp_wrapper import MPWrapper

alr_envs/open_ai/fetch/mp_wrapper.py

@@ -1,13 +1,17 @@
 from typing import Union
 
-from gym import spaces
+import numpy as np
 from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
 
 
 class MPWrapper(MPEnvWrapper):
     @property
-    def start_pos(self):
+    def current_vel(self) -> Union[float, int, np.ndarray]:
-        return self.initial_gripper_xpos
+        return self.unwrapped._get_obs()["observation"][-5:-1]
+
+    @property
+    def current_pos(self) -> Union[float, int, np.ndarray]:
+        return self.unwrapped._get_obs()["observation"][:4]
 
     @property
     def goal_pos(self):

alr_envs/open_ai/fetch/positional_wrapper.py

@@ -1,13 +0,0 @@
-from typing import Union
-import numpy as np
-from mp_env_api.env_wrappers.positional_env_wrapper import PositionalEnvWrapper
-
-
-class PositionalWrapper(PositionalEnvWrapper):
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray]:
-        return self.unwrapped._get_obs()["observation"][-5:-1]
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray]:
-        return self.unwrapped._get_obs()["observation"][:4]

alr_envs/open_ai/reacher_v2/__init__.py

@@ -1,2 +1 @@
-from alr_envs.open_ai.reacher_v2.positional_wrapper import PositionalWrapper
 from alr_envs.open_ai.reacher_v2.mp_wrapper import MPWrapper

alr_envs/open_ai/reacher_v2/mp_wrapper.py

@@ -1,13 +1,18 @@
 from typing import Union
 
+import numpy as np
 from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
 
 
 class MPWrapper(MPEnvWrapper):
 
     @property
-    def start_pos(self):
+    def current_vel(self) -> Union[float, int, np.ndarray]:
-        raise ValueError("Start position is not available")
+        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):

alr_envs/open_ai/reacher_v2/positional_wrapper.py

@@ -1,13 +0,0 @@
-from typing import Union
-import numpy as np
-from mp_env_api.env_wrappers.positional_env_wrapper import PositionalEnvWrapper
-
-
-class PositionalWrapper(PositionalEnvWrapper):
-    @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]