22 lines
800 B
Python
22 lines
800 B
Python
from abc import ABC
|
|
from typing import Tuple, Union
|
|
|
|
import numpy as np
|
|
|
|
from alr_envs.black_box.raw_interface_wrapper import RawInterfaceWrapper
|
|
|
|
|
|
class BaseMetaworldMPWrapper(RawInterfaceWrapper, ABC):
|
|
@property
|
|
def current_pos(self) -> Union[float, int, np.ndarray]:
|
|
r_close = self.env.data.get_joint_qpos("r_close")
|
|
# TODO check if this is correct
|
|
# return np.hstack([self.env.data.get_body_xpos('hand').flatten() / self.env.action_scale, r_close])
|
|
return np.hstack([self.env.data.mocap_pos.flatten() / self.env.action_scale, r_close])
|
|
|
|
@property
|
|
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
|
|
# TODO check if this is correct
|
|
return np.zeros(4, )
|
|
# raise NotImplementedError("Velocity cannot be retrieved.")
|