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Add docstring to DefaultMPWrapper

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This commit is contained in:
Dominik Moritz Roth 2023-10-11 12:46:34 +02:00
parent db5e032987
commit 980bb0de6b
1 changed files with 23 additions and 0 deletions
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23
fancy_gym/envs/registry.py
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@ -18,6 +18,15 @@ from gymnasium.envs.registration import registry as gym_registry
class DefaultMPWrapper(RawInterfaceWrapper):
@property
def context_mask(self):
"""
Returns boolean mask of the same shape as the observation space.
It determines whether the observation is returned for the contextual case or not.
This effectively allows to filter unwanted or unnecessary observations from the full step-based case.
E.g. Velocities starting at 0 are only changing after the first action. Given we only receive the
context/part of the first observation, the velocities are not necessary in the observation for the task.
Returns:
bool array representing the indices of the observations
"""
# If the env already defines a context_mask, we will use that
if hasattr(self.env, 'context_mask'):
return self.env.context_mask
@ -27,11 +36,25 @@ class DefaultMPWrapper(RawInterfaceWrapper):
@property
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
"""
Returns the current position of the action/control dimension.
The dimensionality has to match the action/control dimension.
This is not required when exclusively using velocity control,
it should, however, be implemented regardless.
E.g. The joint positions that are directly or indirectly controlled by the action.
"""
assert hasattr(self.env, 'current_pos'), 'DefaultMPWrapper was unable to access env.current_pos. Please write a custom MPWrapper (recommended) or expose this attribute directly.'
return self.env.current_pos
@property
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
"""
Returns the current velocity of the action/control dimension.
The dimensionality has to match the action/control dimension.
This is not required when exclusively using position control,
it should, however, be implemented regardless.
E.g. The joint velocities that are directly or indirectly controlled by the action.
"""
assert hasattr(self.env, 'current_vel'), 'DefaultMPWrapper was unable to access env.current_vel. Please write a custom MPWrapper (recommended) or expose this attribute directly.'
return self.env.current_vel