27 lines
690 B
Python
27 lines
690 B
Python
from typing import Union
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import numpy as np
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from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
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class MPWrapper(RawInterfaceWrapper):
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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 context_mask(self):
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return np.concatenate([
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[False] * 2, # cos of two links
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[False] * 2, # sin of two links
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[True] * 2, # goal position
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[False] * 2, # angular velocity
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[False] * 3, # goal distance
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])
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