wrappers updated

alr_envs/alr/mujoco/reacher/__init__.py

@@ -1 +1,2 @@
-from .mp_wrapper import MPWrapper
+from .mp_wrapper import MPWrapper
+from .new_mp_wrapper import MPWrapper as NewMPWrapper

alr_envs/alr/mujoco/reacher/mp_wrapper.py

@@ -1,13 +1,14 @@
 from typing import Union
 
 import numpy as np
-from mp_env_api import MPEnvWrapper
+
+from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
 
 
-class MPWrapper(MPEnvWrapper):
+class MPWrapper(RawInterfaceWrapper):
 
     @property
-    def active_obs(self):
+    def context_mask(self) -> np.ndarray:
         return np.concatenate([
             [False] * self.n_links,  # cos
             [False] * self.n_links,  # sin

alr_envs/alr/mujoco/reacher/new_mp_wrapper.py

@@ -8,12 +8,6 @@ from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
 class MPWrapper(RawInterfaceWrapper):
 
     @property
-    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.sim.data.qpos.flat[:self.env.n_links]
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.sim.data.qvel.flat[:self.env.n_links]
-
     def context_mask(self):
         return np.concatenate([
             [False] * self.env.n_links,  # cos
@@ -24,3 +18,11 @@ class MPWrapper(RawInterfaceWrapper):
             # self.get_body_com("target"),  # only return target to make problem harder
             [False],  # step
         ])
+
+    @property
+    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.env.sim.data.qpos.flat[:self.env.n_links]
+
+    @property
+    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.env.sim.data.qvel.flat[:self.env.n_links]