call on superclass for obs wrapper

alr_envs/alr/classic_control/base_reacher/base_reacher.py

@@ -1,10 +1,11 @@
-from typing import Iterable, Union
 from abc import ABC, abstractmethod
+from typing import Union
+
 import gym
-import matplotlib.pyplot as plt
 import numpy as np
 from gym import spaces
 from gym.utils import seeding
+
 from alr_envs.alr.classic_control.utils import intersect
 
 

alr_envs/alr/classic_control/hole_reacher/mp_wrapper.py

@@ -1,27 +0,0 @@
-from typing import Tuple, Union
-
-import numpy as np
-
-from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
-
-
-class MPWrapper(RawInterfaceWrapper):
-
-    def get_context_mask(self):
-        return np.hstack([
-            [self.env.random_start] * self.env.n_links,  # cos
-            [self.env.random_start] * self.env.n_links,  # sin
-            [self.env.random_start] * self.env.n_links,  # velocity
-            [self.env.initial_width is None],  # hole width
-            # [self.env.hole_depth is None],  # hole depth
-            [True] * 2,  # x-y coordinates of target distance
-            [False]  # env steps
-        ])
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.current_pos
-
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.current_vel

alr_envs/alr/classic_control/viapoint_reacher/mp_wrapper.py

@@ -6,8 +6,8 @@ from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
 
 
 class MPWrapper(RawInterfaceWrapper):
-    @property
-    def context_mask(self) -> np.ndarray:
+
+    def context_mask(self):
         return np.hstack([
             [self.env.random_start] * self.env.n_links,  # cos
             [self.env.random_start] * self.env.n_links,  # sin
@@ -25,10 +25,6 @@ class MPWrapper(RawInterfaceWrapper):
     def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
         return self.env.current_vel
 
-    @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

alr_envs/alr/classic_control/viapoint_reacher/new_mp_wrapper.py

@@ -1,30 +0,0 @@
-from typing import Tuple, Union
-
-import numpy as np
-
-from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
-
-
-class MPWrapper(RawInterfaceWrapper):
-
-    def context_mask(self):
-        return np.hstack([
-            [self.env.random_start] * self.env.n_links,  # cos
-            [self.env.random_start] * self.env.n_links,  # sin
-            [self.env.random_start] * self.env.n_links,  # velocity
-            [self.env.initial_via_target is None] * 2,  # x-y coordinates of via point distance
-            [True] * 2,  # x-y coordinates of target distance
-            [False]  # env steps
-        ])
-
-    @property
-    def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.current_pos
-
-    @property
-    def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
-        return self.env.current_vel
-
-    @property
-    def dt(self) -> Union[float, int]:
-        return self.env.dt