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Update base_metaworld_mp_wrapper.py

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ottofabian 2023-02-14 10:05:05 +01:00 committed by GitHub
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commit 0781077bde
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fancy_gym/meta/base_metaworld_mp_wrapper.py
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@ -9,12 +9,9 @@ class BaseMetaworldMPWrapper(RawInterfaceWrapper):
@property @property
def current_pos(self) -> Union[float, int, np.ndarray]: def current_pos(self) -> Union[float, int, np.ndarray]:
r_close = self.env.data.get_joint_qpos("r_close") r_close = self.env.data.get_joint_qpos("r_close")
# TODO check if this is correct
# return np.hstack([self.env.data.get_body_xpos('hand').flatten() / self.env.action_scale, r_close])
return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close]) return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
@property @property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]: def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
# TODO check if this is correct
return np.zeros(4, ) return np.zeros(4, )
# raise NotImplementedError("Velocity cannot be retrieved.") # raise NotImplementedError("Velocity cannot be retrieved.")