added new mp wrappers to all environments

alr_envs/alr/mujoco/reacher/new_mp_wrapper.py

@@ -2,8 +2,10 @@ from alr_envs.mp.black_box_wrapper import BlackBoxWrapper
 from typing import Union, Tuple
 import numpy as np
 
+from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
 
-class MPWrapper(BlackBoxWrapper):
+
+class MPWrapper(RawInterfaceWrapper):
 
     @property
     def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
@@ -12,7 +14,7 @@ class MPWrapper(BlackBoxWrapper):
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
         return self.env.sim.data.qvel.flat[:self.env.n_links]
 
-    def get_context_mask(self):
+    def context_mask(self):
         return np.concatenate([
             [False] * self.env.n_links,  # cos
             [False] * self.env.n_links,  # sin
@@ -21,4 +23,4 @@ class MPWrapper(BlackBoxWrapper):
             [False] * 3,  # goal distance
             # self.get_body_com("target"),  # only return target to make problem harder
             [False],  # step
-        ])
+        ])