Function move

metaworld/policies/policy.py:33–53

Computes action components that help move from 1 position to another. Args: from_xyz: The coordinates to move from (usually current position) to_xyz: The coordinates to move to p: constant to scale response Returns: Response that will decrease abs(to_xyz - f

(
    from_xyz: npt.NDArray[Any], to_xyz: npt.NDArray[Any], p: float
)

def move(
    from_xyz: npt.NDArray[Any], to_xyz: npt.NDArray[Any], p: float
) -> npt.NDArray[Any]:
    """Computes action components that help move from 1 position to another.

    Args:
        from_xyz: The coordinates to move from (usually current position)
        to_xyz: The coordinates to move to
        p: constant to scale response

    Returns:
        Response that will decrease abs(to_xyz - from_xyz)
    """
    error = to_xyz - from_xyz
    response = p * error
    if np.any(np.absolute(response) > 1.0):
        warnings.warn(
            "Constant(s) may be too high. Environments clip response to [-1, 1]"
        )

    return response


class Policy(abc.ABC):