bugfixes

alr_envs/black_box/controller/controller_factory.py

@@ -1,21 +0,0 @@
-from alr_envs.black_box.controller.meta_world_controller import MetaWorldController
-from alr_envs.black_box.controller.pd_controller import PDController
-from alr_envs.black_box.controller.vel_controller import VelController
-from alr_envs.black_box.controller.pos_controller import PosController
-
-ALL_TYPES = ["motor", "velocity", "position", "metaworld"]
-
-
-def get_controller(controller_type: str, **kwargs):
-    controller_type = controller_type.lower()
-    if controller_type == "motor":
-        return PDController(**kwargs)
-    elif controller_type == "velocity":
-        return VelController()
-    elif controller_type == "position":
-        return PosController()
-    elif controller_type == "metaworld":
-        return MetaWorldController()
-    else:
-        raise ValueError(f"Specified controller type {controller_type} not supported, "
-                         f"please choose one of {ALL_TYPES}.")

alr_envs/black_box/controller/meta_world_controller.py

@@ -10,13 +10,12 @@ class MetaWorldController(BaseController):
     Unlike the other Controllers, this is a special tracking_controller for MetaWorld environments.
     They use a position delta for the xyz coordinates and a raw position for the gripper opening.
 
-    :param env: A position environment
     """
 
     def get_action(self, des_pos, des_vel, c_pos, c_vel):
         gripper_pos = des_pos[-1]
 
-        cur_pos = env.current_pos[:-1]
+        cur_pos = c_pos[:-1]
         xyz_pos = des_pos[:-1]
 
         assert xyz_pos.shape == cur_pos.shape, \