37 lines
1.0 KiB
Python
37 lines
1.0 KiB
Python
from typing import Union, Tuple
|
|
|
|
import numpy as np
|
|
|
|
from fancy_gym.black_box.raw_interface_wrapper import RawInterfaceWrapper
|
|
|
|
|
|
class MPWrapper(RawInterfaceWrapper):
|
|
|
|
mp_config = {
|
|
'ProMP': {},
|
|
'DMP': {
|
|
'phase_generator_kwargs': {
|
|
'alpha_phase': 2,
|
|
},
|
|
},
|
|
'ProDMP': {},
|
|
}
|
|
|
|
@property
|
|
def context_mask(self):
|
|
return np.concatenate([[False] * self.n_links, # cos
|
|
[False] * self.n_links, # sin
|
|
[True] * 2, # goal position
|
|
[False] * self.n_links, # angular velocity
|
|
[False] * 3, # goal distance
|
|
# [False], # step
|
|
])
|
|
|
|
@property
|
|
def current_pos(self) -> Union[float, int, np.ndarray, Tuple]:
|
|
return self.data.qpos.flat[:self.n_links]
|
|
|
|
@property
|
|
def current_vel(self) -> Union[float, int, np.ndarray, Tuple]:
|
|
return self.data.qvel.flat[:self.n_links]
|