From 28d10ef0894dd0f974886f5c03b9ada9646162dd Mon Sep 17 00:00:00 2001
From: Marcel <unsux@student.kit.edu>
Date: Mon, 5 Jul 2021 08:14:39 +0200
Subject: [PATCH] Bug fixes for wrapped OpenAi environments

---
 alr_envs/__init__.py                                   | 6 +++---
 alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py | 2 +-
 alr_envs/open_ai/fetch/positional_wrapper.py           | 4 ++--
 3 files changed, 6 insertions(+), 6 deletions(-)

diff --git a/alr_envs/__init__.py b/alr_envs/__init__.py
index 181b627..2611701 100644
--- a/alr_envs/__init__.py
+++ b/alr_envs/__init__.py
@@ -571,7 +571,7 @@ register(
         "mp_kwargs": {
             "num_dof": 1,
             "num_basis": 4,
-            "duration": 100,
+            "duration": 2,
             "post_traj_time": 0,
             "width": 0.02,
             "policy_type": "motor",
@@ -613,7 +613,7 @@ register(
         "mp_kwargs": {
             "num_dof": 4,
             "num_basis": 5,
-            "duration": 1,
+            "duration": 2,
             "post_traj_time": 0,
             "width": 0.02,
             "policy_type": "position"
@@ -630,7 +630,7 @@ register(
         "mp_kwargs": {
             "num_dof": 4,
             "num_basis": 5,
-            "duration": 1,
+            "duration": 2,
             "post_traj_time": 0,
             "width": 0.02,
             "policy_type": "position"
diff --git a/alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py b/alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py
index 960fc0c..886b1e1 100644
--- a/alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py
+++ b/alr_envs/open_ai/continuous_mountain_car/mp_wrapper.py
@@ -14,4 +14,4 @@ class MPWrapper(MPEnvWrapper):
 
     @property
     def dt(self) -> Union[float, int]:
-        return 1.
\ No newline at end of file
+        return 0.02
\ No newline at end of file
diff --git a/alr_envs/open_ai/fetch/positional_wrapper.py b/alr_envs/open_ai/fetch/positional_wrapper.py
index c113db6..9c6dcf2 100644
--- a/alr_envs/open_ai/fetch/positional_wrapper.py
+++ b/alr_envs/open_ai/fetch/positional_wrapper.py
@@ -6,8 +6,8 @@ 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._get_obs()["observation"][-5:-1]
+        return self.unwrapped._get_obs()["observation"][-5:-1]
 
     @property
     def current_pos(self) -> Union[float, int, np.ndarray]:
-        return self._get_obs()["observation"][:4]
\ No newline at end of file
+        return self.unwrapped._get_obs()["observation"][:4]
\ No newline at end of file