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call on superclass for obs wrapper

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This commit is contained in:
Fabian
2022-06-30 14:20:52 +02:00
parent 3273f455c5
commit c3a8352c63
8 changed files with 18 additions and 123 deletions
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alr_envs/alr/classic_control/viapoint_reacher/mp_wrapper.py
+2 -6
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@@ -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
-30
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@@ -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