41 lines
1.1 KiB
Python
41 lines
1.1 KiB
Python
from typing import Tuple, 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.hstack([
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[False] * 7, # cos
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[False] * 7, # sin
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[False] * 7, # joint velocities
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[False] * 3, # cup_goal_diff_final
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[False] * 3, # cup_goal_diff_top
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[True] * 2, # xy position of cup
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[False] # env steps
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])
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@property
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def start_pos(self):
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return self._start_pos
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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.sim.data.qpos[0:7].copy()
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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.sim.data.qvel[0:7].copy()
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@property
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def goal_pos(self):
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raise ValueError("Goal position is not available and has to be learnt based on the environment.")
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@property
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def dt(self) -> Union[float, int]:
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return self.env.dt
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