mp wrappers added

alr_envs/alr/mujoco/ant_jump/mp_wrapper.py

@@ -0,0 +1,23 @@
+from typing import Union, Tuple
+
+import numpy as np
+
+from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+
+
+class MPWrapper(RawInterfaceWrapper):
+
+    @property
+    def context_mask(self):
+        return np.hstack([
+            [False] * 111,  # ant has 111 dimensional observation space !!
+            [True]  # goal height
+        ])
+
+    @property
+    def current_pos(self) -> Union[float, int, np.ndarray]:
+        return self.env.sim.data.qpos[7:15].copy()
+
+    @property
+    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.env.sim.data.qvel[6:14].copy()

alr_envs/alr/mujoco/walker_2d_jump/mp_wrapper.py

@@ -0,0 +1,23 @@
+from typing import Tuple, Union
+
+import numpy as np
+
+from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
+
+
+class MPWrapper(RawInterfaceWrapper):
+
+    @property
+    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.data.qpos[3:9].copy()
+
+    @property
+    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
+        return self.env.data.qvel[3:9].copy()