dodox/fancy_gym
1
0
Fork 0
Code Issues Pull Requests Projects Releases Wiki Activity

Merge remote-tracking branch 'origin/Add-ProDMP-envs' into Add-ProDMP-envs

Browse Source
This commit is contained in:
Fabian 2023-03-13 10:52:07 +01:00
commit 8f07770a2f
1 changed files with 0 additions and 3 deletions
Show Stats Download Patch File Download Diff File Expand all files Collapse all files

3
fancy_gym/meta/base_metaworld_mp_wrapper.py
View File

@ -9,12 +9,9 @@ class BaseMetaworldMPWrapper(RawInterfaceWrapper):
@property @property
def current_pos(self) -> Union[float, int, np.ndarray]: def current_pos(self) -> Union[float, int, np.ndarray]:
r_close = self.env.data.get_joint_qpos("r_close") r_close = self.env.data.get_joint_qpos("r_close")
# TODO check if this is correct
# return np.hstack([self.env.data.get_body_xpos('hand').flatten() / self.env.action_scale, r_close])
return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close]) return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
@property @property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]: def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
# TODO check if this is correct
return np.zeros(4, ) return np.zeros(4, )
# raise NotImplementedError("Velocity cannot be retrieved.") # raise NotImplementedError("Velocity cannot be retrieved.")