44 lines
1.4 KiB
Python
44 lines
1.4 KiB
Python
from typing import Union
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import numpy as np
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from alr_envs.mp.raw_interface_wrapper import RawInterfaceWrapper
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class MPWrapper(RawInterfaceWrapper):
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@property
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def context_mask(self) -> np.ndarray:
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return np.concatenate([
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[False] * self.n_links, # cos
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[False] * self.n_links, # sin
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[True] * 2, # goal position
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[False] * self.n_links, # angular velocity
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[False] * 3, # goal distance
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# self.get_body_com("target"), # only return target to make problem harder
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[False], # step
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])
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# @property
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# def active_obs(self):
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# return np.concatenate([
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# [True] * self.n_links, # cos, True
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# [True] * self.n_links, # sin, True
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# [True] * 2, # goal position
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# [True] * self.n_links, # angular velocity, True
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# [True] * 3, # goal distance
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# # self.get_body_com("target"), # only return target to make problem harder
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# [False], # step
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# ])
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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.flat[:self.n_links]
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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.flat[:self.n_links]
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@property
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def dt(self) -> Union[float, int]:
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return self.env.dt |