wrappers updated

alr_envs/alr/classic_control/simple_reacher/mp_wrapper.py

@@ -2,12 +2,12 @@ from typing import Tuple, Union
 
 import numpy as np
 
-from mp_env_api import MPEnvWrapper
+from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
 
 
-class MPWrapper(MPEnvWrapper):
-    @property
-    def active_obs(self):
+class MPWrapper(RawInterfaceWrapper):
+
+    def context_mask(self):
         return np.hstack([
             [self.env.random_start] * self.env.n_links,  # cos
             [self.env.random_start] * self.env.n_links,  # sin
@@ -24,10 +24,6 @@ class MPWrapper(MPEnvWrapper):
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
         return self.env.current_vel
 
-    @property
-    def goal_pos(self) -> Union[float, int, np.ndarray, Tuple]:
-        raise ValueError("Goal position is not available and has to be learnt based on the environment.")
-
     @property
     def dt(self) -> Union[float, int]:
         return self.env.dt

alr_envs/alr/classic_control/simple_reacher/new_mp_wrapper.py

@@ -1,31 +0,0 @@
-from typing import Tuple, Union
-
-import numpy as np
-
-from mp_env_api import MPEnvWrapper
-
-from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
-
-
-class MPWrapper(RawInterfaceWrapper):
-
-    def context_mask(self):
-        return np.hstack([
-            [self.env.random_start] * self.env.n_links,  # cos
-            [self.env.random_start] * self.env.n_links,  # sin
-            [self.env.random_start] * self.env.n_links,  # velocity
-            [True] * 2,  # x-y coordinates of target distance
-            [False]  # env steps
-        ])
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.current_pos
-
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.current_vel
-
-    @property
-    def dt(self) -> Union[float, int]:
-        return self.env.dt