23 lines
512 B
Python
23 lines
512 B
Python
from typing import Union
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import numpy as np
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from mp_env_api.env_wrappers.mp_env_wrapper import MPEnvWrapper
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class MPWrapper(MPEnvWrapper):
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@property
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def current_vel(self) -> Union[float, int, np.ndarray]:
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return self.sim.data.qvel[:2]
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@property
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def current_pos(self) -> Union[float, int, np.ndarray]:
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return self.sim.data.qpos[:2]
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@property
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def goal_pos(self):
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return self.goal
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@property
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def dt(self) -> Union[float, int]:
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return self.env.dt |