remove two table tennis and Ball in cup envs

2022-07-06 09:10:31 +02:00
parent 6704c9d63a
commit 3a989e179b
74 changed files with 0 additions and 3059 deletions
@@ -1,42 +0,0 @@
-from typing import Union, Tuple
-
-import numpy as np
-
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
-
-
-class MPWrapper(RawInterfaceWrapper):
-
-    def get_context_mask(self):
-        return np.hstack([
-            [False] * 7,  # cos
-            [False] * 7,  # sin
-            [False] * 7,  # joint velocities
-            [False] * 3,  # cup_goal_diff_final
-            [False] * 3,  # cup_goal_diff_top
-            [True] * 2,  # xy position of cup
-            [False]  # env steps
-        ])
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.sim.data.qpos[0:7].copy()
-
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.sim.data.qvel[0:7].copy()
-
-    # TODO: Fix this
-    def _episode_callback(self, action: np.ndarray, mp) -> Tuple[np.ndarray, Union[np.ndarray, None]]:
-        if mp.learn_tau:
-            self.env.env.release_step = action[0] / self.env.dt  # Tau value
-            return action, None
-        else:
-            return action, None
-
-    def set_context(self, context):
-        xyz = np.zeros(3)
-        xyz[:2] = context
-        xyz[-1] = 0.840
-        self.env.env.model.body_pos[self.env.env.cup_table_id] = xyz
-        return self.get_observation_from_step(self.env.env._get_obs())