mp wrapper fixes

alr_envs/alr/mujoco/hopper_throw/mp_wrapper.py

@@ -6,8 +6,9 @@ from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
+
     @property
-    def context_mask(self) -> np.ndarray:
+    def context_mask(self):
         return np.hstack([
             [False] * 17,
             [True]  # goal pos
@@ -15,16 +16,8 @@ class MPWrapper(RawInterfaceWrapper):
 
     @property
     def current_pos(self) -> Union[float, int, np.ndarray]:
-        return self.env.sim.data.qpos[3:6].copy()
+        return self.env.data.qpos[3:6].copy()
 
     @property
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.sim.data.qvel[3:6].copy()
-
-    @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
+        return self.env.data.qvel[3:6].copy()

alr_envs/alr/mujoco/hopper_throw/new_mp_wrapper.py

@@ -1,25 +0,0 @@
-from typing import Tuple, Union
-
-import numpy as np
-
-from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
-
-
-class MPWrapper(RawInterfaceWrapper):
-    def context_mask(self):
-        return np.hstack([
-            [False] * 17,
-            [True] # goal pos
-        ])
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray]:
-        return self.env.sim.data.qpos[3:6].copy()
-
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.sim.data.qvel[3:6].copy()
-
-    @property
-    def dt(self) -> Union[float, int]:
-        return self.env.dt