24 lines
615 B
Python
24 lines
615 B
Python
from typing import Union, Tuple
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import numpy as np
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from alr_envs.black_box.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):
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return np.hstack([
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[False] * 111, # ant has 111 dimensional observation space !!
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[True] # goal height
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])
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@property
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def current_pos(self) -> Union[float, int, np.ndarray]:
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return self.env.sim.data.qpos[7:15].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.env.sim.data.qvel[6:14].copy()
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