53 lines
1.6 KiB
Python
53 lines
1.6 KiB
Python
from typing import Tuple, 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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mp_config = {
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'ProMP': {
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'controller_kwargs': {
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'controller_type': 'velocity',
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},
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'trajectory_generator_kwargs': {
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'weights_scale': 2,
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},
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},
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'DMP': {
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'controller_kwargs': {
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'controller_type': 'velocity',
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},
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'trajectory_generator_kwargs': {
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# TODO: Before it was weight scale 50 and goal scale 0.1. We now only have weight scale and thus set it to 500. Check
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'weights_scale': 500,
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},
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'phase_generator_kwargs': {
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'alpha_phase': 2.5,
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},
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},
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'ProDMP': {},
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}
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@property
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def context_mask(self):
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return np.hstack([
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[self.env.random_start] * self.env.n_links, # cos
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[self.env.random_start] * self.env.n_links, # sin
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[self.env.random_start] * self.env.n_links, # velocity
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[self.env.initial_width is None], # hole width
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# [self.env.hole_depth is None], # hole depth
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[True] * 2, # x-y coordinates of target distance
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[False] # env steps
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])
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@property
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def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
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return self.env.current_pos
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@property
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def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
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return self.env.current_vel
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