use mp api

alr_envs/classic_control/hole_reacher.py

@@ -7,10 +7,10 @@ from gym.utils import seeding
 from matplotlib import patches
 
 from alr_envs.classic_control.utils import check_self_collision
-from alr_envs.utils.mps.alr_env import AlrEnv
+from mp_env_api.envs.mp_env import MpEnv
 
 
-class HoleReacherEnv(AlrEnv):
+class HoleReacherEnv(MpEnv):
 
     def __init__(self, n_links: int, hole_x: Union[None, float] = None, hole_depth: Union[None, float] = None,
                  hole_width: float = 1., random_start: bool = False, allow_self_collision: bool = False,
@@ -44,7 +44,7 @@ class HoleReacherEnv(AlrEnv):
         self._start_pos = np.hstack([[np.pi / 2], np.zeros(self.n_links - 1)])
         self._start_vel = np.zeros(self.n_links)
 
-        self.dt = 0.01
+        self._dt = 0.01
 
         action_bound = np.pi * np.ones((self.n_links,))
         state_bound = np.hstack([
@@ -66,6 +66,10 @@ class HoleReacherEnv(AlrEnv):
         self._steps = 0
         self.seed()
 
+    @property
+    def dt(self) -> Union[float, int]:
+        return self._dt
+
     def step(self, action: np.ndarray):
         """
         A single step with an action in joint velocity space

alr_envs/classic_control/simple_reacher.py

@@ -5,10 +5,10 @@ import numpy as np
 from gym import spaces
 from gym.utils import seeding
 
-from alr_envs.utils.mps.alr_env import AlrEnv
+from mp_env_api.envs.mp_env import MpEnv
 
 
-class SimpleReacherEnv(AlrEnv):
+class SimpleReacherEnv(MpEnv):
     """
     Simple Reaching Task without any physics simulation.
     Returns no reward until 150 time steps. This allows the agent to explore the space, but requires precise actions

alr_envs/classic_control/viapoint_reacher.py

@@ -6,10 +6,10 @@ import numpy as np
 from gym.utils import seeding
 
 from alr_envs.classic_control.utils import check_self_collision
-from alr_envs.utils.mps.alr_env import AlrEnv
+from mp_env_api.envs.mp_env import MpEnv
 
 
-class ViaPointReacher(AlrEnv):
+class ViaPointReacher(MpEnv):
 
     def __init__(self, n_links, random_start: bool = True, via_target: Union[None, Iterable] = None,
                  target: Union[None, Iterable] = None, allow_self_collision=False, collision_penalty=1000):