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<section id="movement-primitives-examples">
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<span id="example-mp"></span><h1>Movement Primitives Examples<a class="headerlink" href="#movement-primitives-examples" title="Permalink to this heading"></a></h1>
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<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
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<span class="linenos"> 2</span><span class="kn">import</span> <span class="nn">fancy_gym</span>
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<span class="linenos"> 3</span>
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<span class="linenos"> 4</span>
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<span class="linenos"> 5</span><span class="k">def</span> <span class="nf">example_mp</span><span class="p">(</span><span class="n">env_name</span><span class="o">=</span><span class="s2">"fancy_ProMP/HoleReacher-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
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<span class="linenos"> 6</span><span class="w"> </span><span class="sd">"""</span>
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<span class="linenos"> 7</span><span class="sd"> Example for running a black box based environment, which is already registered</span>
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<span class="linenos"> 8</span><span class="sd"> Args:</span>
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<span class="linenos"> 9</span><span class="sd"> env_name: Black box env_id</span>
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<span class="linenos"> 10</span><span class="sd"> seed: seed for deterministic behaviour</span>
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<span class="linenos"> 11</span><span class="sd"> iterations: Number of rollout steps to run</span>
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<span class="linenos"> 12</span><span class="sd"> render: Render the episode</span>
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<span class="linenos"> 13</span>
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<span class="linenos"> 14</span><span class="sd"> Returns:</span>
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<span class="linenos"> 15</span>
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<span class="linenos"> 16</span><span class="sd"> """</span>
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<span class="linenos"> 17</span> <span class="c1"># Equivalent to gym, we have a make function which can be used to create environments.</span>
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<span class="linenos"> 18</span> <span class="c1"># It takes care of seeding and enables the use of a variety of external environments using the gym interface.</span>
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<span class="linenos"> 19</span> <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">env_name</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s1">'human'</span> <span class="k">if</span> <span class="n">render</span> <span class="k">else</span> <span class="kc">None</span><span class="p">)</span>
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<span class="linenos"> 20</span>
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<span class="linenos"> 21</span> <span class="n">returns</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="linenos"> 22</span> <span class="c1"># env.render(mode=None)</span>
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<span class="linenos"> 23</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="n">seed</span><span class="p">)</span>
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<span class="linenos"> 24</span>
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<span class="linenos"> 25</span> <span class="c1"># number of samples/full trajectories (multiple environment steps)</span>
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<span class="linenos"> 26</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">iterations</span><span class="p">):</span>
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<span class="linenos"> 27</span>
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<span class="linenos"> 28</span> <span class="k">if</span> <span class="n">render</span> <span class="ow">and</span> <span class="n">i</span> <span class="o">%</span> <span class="mi">1</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
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<span class="linenos"> 29</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
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<span class="linenos"> 30</span>
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<span class="linenos"> 31</span> <span class="c1"># Now the action space is not the raw action but the parametrization of the trajectory generator,</span>
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<span class="linenos"> 32</span> <span class="c1"># such as a ProMP</span>
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<span class="linenos"> 33</span> <span class="n">ac</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
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<span class="linenos"> 34</span> <span class="c1"># This executes a full trajectory and gives back the context (obs) of the last step in the trajectory, or the</span>
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<span class="linenos"> 35</span> <span class="c1"># full observation space of the last step, if replanning/sub-trajectory learning is used. The 'reward' is equal</span>
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<span class="linenos"> 36</span> <span class="c1"># to the return of a trajectory. Default is the sum over the step-wise rewards.</span>
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<span class="linenos"> 37</span> <span class="n">obs</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">ac</span><span class="p">)</span>
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<span class="linenos"> 38</span> <span class="c1"># Aggregated returns</span>
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<span class="linenos"> 39</span> <span class="n">returns</span> <span class="o">+=</span> <span class="n">reward</span>
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<span class="linenos"> 40</span>
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<span class="linenos"> 41</span> <span class="k">if</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span><span class="p">:</span>
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<span class="linenos"> 42</span> <span class="nb">print</span><span class="p">(</span><span class="n">reward</span><span class="p">)</span>
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<span class="linenos"> 43</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
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<span class="linenos"> 44</span> <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
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<span class="linenos"> 45</span>
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<span class="linenos"> 46</span>
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<span class="linenos"> 47</span><span class="k">def</span> <span class="nf">example_custom_mp</span><span class="p">(</span><span class="n">env_name</span><span class="o">=</span><span class="s2">"fancy_ProMP/Reacher5d-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
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<span class="linenos"> 48</span><span class="w"> </span><span class="sd">"""</span>
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<span class="linenos"> 49</span><span class="sd"> Example for running a custom movement primitive based environments.</span>
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<span class="linenos"> 50</span><span class="sd"> Our already registered environments follow the same structure.</span>
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<span class="linenos"> 51</span><span class="sd"> Hence, this also allows to adjust hyperparameters of the movement primitives.</span>
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<span class="linenos"> 52</span><span class="sd"> Yet, we recommend the method above if you are just interested in changing those parameters for existing tasks.</span>
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<span class="linenos"> 53</span><span class="sd"> We appreciate PRs for custom environments (especially MP wrappers of existing tasks) </span>
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<span class="linenos"> 54</span><span class="sd"> for our repo: https://github.com/ALRhub/fancy_gym/</span>
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<span class="linenos"> 55</span><span class="sd"> Args:</span>
|
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<span class="linenos"> 56</span><span class="sd"> seed: seed</span>
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<span class="linenos"> 57</span><span class="sd"> iterations: Number of rollout steps to run</span>
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<span class="linenos"> 58</span><span class="sd"> render: Render the episode</span>
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<span class="linenos"> 59</span>
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<span class="linenos"> 60</span><span class="sd"> Returns:</span>
|
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<span class="linenos"> 61</span>
|
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<span class="linenos"> 62</span><span class="sd"> """</span>
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<span class="linenos"> 63</span> <span class="c1"># Changing the arguments of the black box env is possible by providing them to gym through mp_config_override.</span>
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<span class="linenos"> 64</span> <span class="c1"># E.g. here for way to many basis functions</span>
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<span class="linenos"> 65</span> <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">env_name</span><span class="p">,</span> <span class="n">seed</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="o">=</span><span class="p">{</span><span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span><span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">1000</span><span class="p">}},</span> <span class="n">render_mode</span><span class="o">=</span><span class="s1">'human'</span> <span class="k">if</span> <span class="n">render</span> <span class="k">else</span> <span class="kc">None</span><span class="p">)</span>
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<span class="linenos"> 66</span>
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<span class="linenos"> 67</span> <span class="n">returns</span> <span class="o">=</span> <span class="mi">0</span>
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<span class="linenos"> 68</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
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<span class="linenos"> 69</span>
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<span class="linenos"> 70</span> <span class="c1"># This time rendering every trajectory</span>
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<span class="linenos"> 71</span> <span class="k">if</span> <span class="n">render</span><span class="p">:</span>
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<span class="linenos"> 72</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
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<span class="linenos"> 73</span>
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<span class="linenos"> 74</span> <span class="c1"># number of samples/full trajectories (multiple environment steps)</span>
|
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<span class="linenos"> 75</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">iterations</span><span class="p">):</span>
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<span class="linenos"> 76</span> <span class="n">ac</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
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<span class="linenos"> 77</span> <span class="n">obs</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">ac</span><span class="p">)</span>
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<span class="linenos"> 78</span> <span class="n">returns</span> <span class="o">+=</span> <span class="n">reward</span>
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<span class="linenos"> 79</span>
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<span class="linenos"> 80</span> <span class="k">if</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span><span class="p">:</span>
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<span class="linenos"> 81</span> <span class="nb">print</span><span class="p">(</span><span class="n">i</span><span class="p">,</span> <span class="n">reward</span><span class="p">)</span>
|
||
|
|
<span class="linenos"> 82</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||
|
|
<span class="linenos"> 83</span>
|
||
|
|
<span class="linenos"> 84</span> <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
||
|
|
<span class="linenos"> 85</span> <span class="k">return</span> <span class="n">obs</span>
|
||
|
|
<span class="linenos"> 86</span>
|
||
|
|
<span class="linenos"> 87</span><span class="k">class</span> <span class="nc">Custom_MPWrapper</span><span class="p">(</span><span class="n">fancy_gym</span><span class="o">.</span><span class="n">envs</span><span class="o">.</span><span class="n">mujoco</span><span class="o">.</span><span class="n">reacher</span><span class="o">.</span><span class="n">MPWrapper</span><span class="p">):</span>
|
||
|
|
<span class="linenos"> 88</span> <span class="n">mp_config</span> <span class="o">=</span> <span class="p">{</span>
|
||
|
|
<span class="linenos"> 89</span> <span class="s1">'ProMP'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos"> 90</span> <span class="s1">'trajectory_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos"> 91</span> <span class="s1">'trajectory_generator_type'</span><span class="p">:</span> <span class="s1">'promp'</span><span class="p">,</span>
|
||
|
|
<span class="linenos"> 92</span> <span class="s1">'weights_scale'</span><span class="p">:</span> <span class="mi">2</span>
|
||
|
|
<span class="linenos"> 93</span> <span class="p">},</span>
|
||
|
|
<span class="linenos"> 94</span> <span class="s1">'phase_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos"> 95</span> <span class="s1">'phase_generator_type'</span><span class="p">:</span> <span class="s1">'linear'</span>
|
||
|
|
<span class="linenos"> 96</span> <span class="p">},</span>
|
||
|
|
<span class="linenos"> 97</span> <span class="s1">'controller_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos"> 98</span> <span class="s1">'controller_type'</span><span class="p">:</span> <span class="s1">'velocity'</span>
|
||
|
|
<span class="linenos"> 99</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">100</span> <span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">101</span> <span class="s1">'basis_generator_type'</span><span class="p">:</span> <span class="s1">'zero_rbf'</span><span class="p">,</span>
|
||
|
|
<span class="linenos">102</span> <span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">5</span><span class="p">,</span>
|
||
|
|
<span class="linenos">103</span> <span class="s1">'num_basis_zero_start'</span><span class="p">:</span> <span class="mi">1</span>
|
||
|
|
<span class="linenos">104</span> <span class="p">}</span>
|
||
|
|
<span class="linenos">105</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">106</span> <span class="s1">'DMP'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">107</span> <span class="s1">'trajectory_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">108</span> <span class="s1">'trajectory_generator_type'</span><span class="p">:</span> <span class="s1">'dmp'</span><span class="p">,</span>
|
||
|
|
<span class="linenos">109</span> <span class="s1">'weights_scale'</span><span class="p">:</span> <span class="mi">500</span>
|
||
|
|
<span class="linenos">110</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">111</span> <span class="s1">'phase_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">112</span> <span class="s1">'phase_generator_type'</span><span class="p">:</span> <span class="s1">'exp'</span><span class="p">,</span>
|
||
|
|
<span class="linenos">113</span> <span class="s1">'alpha_phase'</span><span class="p">:</span> <span class="mf">2.5</span>
|
||
|
|
<span class="linenos">114</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">115</span> <span class="s1">'controller_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">116</span> <span class="s1">'controller_type'</span><span class="p">:</span> <span class="s1">'velocity'</span>
|
||
|
|
<span class="linenos">117</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">118</span> <span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">119</span> <span class="s1">'basis_generator_type'</span><span class="p">:</span> <span class="s1">'rbf'</span><span class="p">,</span>
|
||
|
|
<span class="linenos">120</span> <span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">5</span>
|
||
|
|
<span class="linenos">121</span> <span class="p">}</span>
|
||
|
|
<span class="linenos">122</span> <span class="p">}</span>
|
||
|
|
<span class="linenos">123</span> <span class="p">}</span>
|
||
|
|
<span class="linenos">124</span>
|
||
|
|
<span class="linenos">125</span>
|
||
|
|
<span class="linenos">126</span><span class="k">def</span> <span class="nf">example_fully_custom_mp</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
|
||
|
|
<span class="linenos">127</span><span class="w"> </span><span class="sd">"""</span>
|
||
|
|
<span class="linenos">128</span><span class="sd"> Example for running a custom movement primitive based environments.</span>
|
||
|
|
<span class="linenos">129</span><span class="sd"> Our already registered environments follow the same structure.</span>
|
||
|
|
<span class="linenos">130</span><span class="sd"> Hence, this also allows to adjust hyperparameters of the movement primitives.</span>
|
||
|
|
<span class="linenos">131</span><span class="sd"> Yet, we recommend the method above if you are just interested in changing those parameters for existing tasks.</span>
|
||
|
|
<span class="linenos">132</span><span class="sd"> We appreciate PRs for custom environments (especially MP wrappers of existing tasks) </span>
|
||
|
|
<span class="linenos">133</span><span class="sd"> for our repo: https://github.com/ALRhub/fancy_gym/</span>
|
||
|
|
<span class="linenos">134</span><span class="sd"> Args:</span>
|
||
|
|
<span class="linenos">135</span><span class="sd"> seed: seed</span>
|
||
|
|
<span class="linenos">136</span><span class="sd"> iterations: Number of rollout steps to run</span>
|
||
|
|
<span class="linenos">137</span><span class="sd"> render: Render the episode</span>
|
||
|
|
<span class="linenos">138</span>
|
||
|
|
<span class="linenos">139</span><span class="sd"> Returns:</span>
|
||
|
|
<span class="linenos">140</span>
|
||
|
|
<span class="linenos">141</span><span class="sd"> """</span>
|
||
|
|
<span class="linenos">142</span>
|
||
|
|
<span class="linenos">143</span> <span class="n">base_env_id</span> <span class="o">=</span> <span class="s2">"fancy/Reacher5d-v0"</span>
|
||
|
|
<span class="linenos">144</span> <span class="n">custom_env_id</span> <span class="o">=</span> <span class="s2">"fancy/Reacher5d-Custom-v0"</span>
|
||
|
|
<span class="linenos">145</span> <span class="n">custom_env_id_DMP</span> <span class="o">=</span> <span class="s2">"fancy_DMP/Reacher5d-Custom-v0"</span>
|
||
|
|
<span class="linenos">146</span> <span class="n">custom_env_id_ProMP</span> <span class="o">=</span> <span class="s2">"fancy_ProMP/Reacher5d-Custom-v0"</span>
|
||
|
|
<span class="linenos">147</span>
|
||
|
|
<span class="linenos">148</span> <span class="n">fancy_gym</span><span class="o">.</span><span class="n">upgrade</span><span class="p">(</span><span class="n">custom_env_id</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="o">=</span><span class="n">Custom_MPWrapper</span><span class="p">,</span> <span class="n">add_mp_types</span><span class="o">=</span><span class="p">[</span><span class="s1">'ProMP'</span><span class="p">,</span> <span class="s1">'DMP'</span><span class="p">],</span> <span class="n">base_id</span><span class="o">=</span><span class="n">base_env_id</span><span class="p">)</span>
|
||
|
|
<span class="linenos">149</span>
|
||
|
|
<span class="linenos">150</span> <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">custom_env_id_ProMP</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s1">'human'</span> <span class="k">if</span> <span class="n">render</span> <span class="k">else</span> <span class="kc">None</span><span class="p">)</span>
|
||
|
|
<span class="linenos">151</span>
|
||
|
|
<span class="linenos">152</span> <span class="n">rewards</span> <span class="o">=</span> <span class="mi">0</span>
|
||
|
|
<span class="linenos">153</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||
|
|
<span class="linenos">154</span>
|
||
|
|
<span class="linenos">155</span> <span class="k">if</span> <span class="n">render</span><span class="p">:</span>
|
||
|
|
<span class="linenos">156</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
|
||
|
|
<span class="linenos">157</span>
|
||
|
|
<span class="linenos">158</span> <span class="c1"># number of samples/full trajectories (multiple environment steps)</span>
|
||
|
|
<span class="linenos">159</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">iterations</span><span class="p">):</span>
|
||
|
|
<span class="linenos">160</span> <span class="n">ac</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
|
||
|
|
<span class="linenos">161</span> <span class="n">obs</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">ac</span><span class="p">)</span>
|
||
|
|
<span class="linenos">162</span> <span class="n">rewards</span> <span class="o">+=</span> <span class="n">reward</span>
|
||
|
|
<span class="linenos">163</span>
|
||
|
|
<span class="linenos">164</span> <span class="k">if</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span><span class="p">:</span>
|
||
|
|
<span class="linenos">165</span> <span class="nb">print</span><span class="p">(</span><span class="n">rewards</span><span class="p">)</span>
|
||
|
|
<span class="linenos">166</span> <span class="n">rewards</span> <span class="o">=</span> <span class="mi">0</span>
|
||
|
|
<span class="linenos">167</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||
|
|
<span class="linenos">168</span>
|
||
|
|
<span class="linenos">169</span> <span class="k">try</span><span class="p">:</span> <span class="c1"># Some mujoco-based envs don't correlcty implement .close</span>
|
||
|
|
<span class="linenos">170</span> <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
||
|
|
<span class="linenos">171</span> <span class="k">except</span><span class="p">:</span>
|
||
|
|
<span class="linenos">172</span> <span class="k">pass</span>
|
||
|
|
<span class="linenos">173</span>
|
||
|
|
<span class="linenos">174</span>
|
||
|
|
<span class="linenos">175</span><span class="k">def</span> <span class="nf">example_fully_custom_mp_alternative</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
|
||
|
|
<span class="linenos">176</span><span class="w"> </span><span class="sd">"""</span>
|
||
|
|
<span class="linenos">177</span><span class="sd"> Instead of defining the mp_args in a new custom MP_Wrapper, they can also be provided during registration.</span>
|
||
|
|
<span class="linenos">178</span><span class="sd"> Args:</span>
|
||
|
|
<span class="linenos">179</span><span class="sd"> seed: seed</span>
|
||
|
|
<span class="linenos">180</span><span class="sd"> iterations: Number of rollout steps to run</span>
|
||
|
|
<span class="linenos">181</span><span class="sd"> render: Render the episode</span>
|
||
|
|
<span class="linenos">182</span>
|
||
|
|
<span class="linenos">183</span><span class="sd"> Returns:</span>
|
||
|
|
<span class="linenos">184</span>
|
||
|
|
<span class="linenos">185</span><span class="sd"> """</span>
|
||
|
|
<span class="linenos">186</span>
|
||
|
|
<span class="linenos">187</span> <span class="n">base_env_id</span> <span class="o">=</span> <span class="s2">"fancy/Reacher5d-v0"</span>
|
||
|
|
<span class="linenos">188</span> <span class="n">custom_env_id</span> <span class="o">=</span> <span class="s2">"fancy/Reacher5d-Custom-v0"</span>
|
||
|
|
<span class="linenos">189</span> <span class="n">custom_env_id_ProMP</span> <span class="o">=</span> <span class="s2">"fancy_ProMP/Reacher5d-Custom-v0"</span>
|
||
|
|
<span class="linenos">190</span>
|
||
|
|
<span class="linenos">191</span> <span class="n">fancy_gym</span><span class="o">.</span><span class="n">upgrade</span><span class="p">(</span><span class="n">custom_env_id</span><span class="p">,</span> <span class="n">mp_wrapper</span><span class="o">=</span><span class="n">fancy_gym</span><span class="o">.</span><span class="n">envs</span><span class="o">.</span><span class="n">mujoco</span><span class="o">.</span><span class="n">reacher</span><span class="o">.</span><span class="n">MPWrapper</span><span class="p">,</span> <span class="n">add_mp_types</span><span class="o">=</span><span class="p">[</span><span class="s1">'ProMP'</span><span class="p">],</span> <span class="n">base_id</span><span class="o">=</span><span class="n">base_env_id</span><span class="p">,</span> <span class="n">mp_config_override</span><span class="o">=</span> <span class="p">{</span><span class="s1">'ProMP'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">192</span> <span class="s1">'trajectory_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">193</span> <span class="s1">'trajectory_generator_type'</span><span class="p">:</span> <span class="s1">'promp'</span><span class="p">,</span>
|
||
|
|
<span class="linenos">194</span> <span class="s1">'weights_scale'</span><span class="p">:</span> <span class="mi">2</span>
|
||
|
|
<span class="linenos">195</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">196</span> <span class="s1">'phase_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">197</span> <span class="s1">'phase_generator_type'</span><span class="p">:</span> <span class="s1">'linear'</span>
|
||
|
|
<span class="linenos">198</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">199</span> <span class="s1">'controller_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">200</span> <span class="s1">'controller_type'</span><span class="p">:</span> <span class="s1">'velocity'</span>
|
||
|
|
<span class="linenos">201</span> <span class="p">},</span>
|
||
|
|
<span class="linenos">202</span> <span class="s1">'basis_generator_kwargs'</span><span class="p">:</span> <span class="p">{</span>
|
||
|
|
<span class="linenos">203</span> <span class="s1">'basis_generator_type'</span><span class="p">:</span> <span class="s1">'zero_rbf'</span><span class="p">,</span>
|
||
|
|
<span class="linenos">204</span> <span class="s1">'num_basis'</span><span class="p">:</span> <span class="mi">5</span><span class="p">,</span>
|
||
|
|
<span class="linenos">205</span> <span class="s1">'num_basis_zero_start'</span><span class="p">:</span> <span class="mi">1</span>
|
||
|
|
<span class="linenos">206</span> <span class="p">}</span>
|
||
|
|
<span class="linenos">207</span> <span class="p">}})</span>
|
||
|
|
<span class="linenos">208</span>
|
||
|
|
<span class="linenos">209</span> <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">custom_env_id_ProMP</span><span class="p">,</span> <span class="n">render_mode</span><span class="o">=</span><span class="s1">'human'</span> <span class="k">if</span> <span class="n">render</span> <span class="k">else</span> <span class="kc">None</span><span class="p">)</span>
|
||
|
|
<span class="linenos">210</span>
|
||
|
|
<span class="linenos">211</span> <span class="n">rewards</span> <span class="o">=</span> <span class="mi">0</span>
|
||
|
|
<span class="linenos">212</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||
|
|
<span class="linenos">213</span>
|
||
|
|
<span class="linenos">214</span> <span class="k">if</span> <span class="n">render</span><span class="p">:</span>
|
||
|
|
<span class="linenos">215</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
|
||
|
|
<span class="linenos">216</span>
|
||
|
|
<span class="linenos">217</span> <span class="c1"># number of samples/full trajectories (multiple environment steps)</span>
|
||
|
|
<span class="linenos">218</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">iterations</span><span class="p">):</span>
|
||
|
|
<span class="linenos">219</span> <span class="n">ac</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
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<span class="linenos">220</span> <span class="n">obs</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">ac</span><span class="p">)</span>
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<span class="linenos">221</span> <span class="n">rewards</span> <span class="o">+=</span> <span class="n">reward</span>
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<span class="linenos">222</span>
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<span class="linenos">223</span> <span class="k">if</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span><span class="p">:</span>
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<span class="linenos">224</span> <span class="nb">print</span><span class="p">(</span><span class="n">rewards</span><span class="p">)</span>
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<span class="linenos">225</span> <span class="n">rewards</span> <span class="o">=</span> <span class="mi">0</span>
|
||
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<span class="linenos">226</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
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<span class="linenos">227</span>
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<span class="linenos">228</span> <span class="k">if</span> <span class="n">render</span><span class="p">:</span>
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<span class="linenos">229</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
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<span class="linenos">230</span>
|
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<span class="linenos">231</span> <span class="n">rewards</span> <span class="o">=</span> <span class="mi">0</span>
|
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<span class="linenos">232</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
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<span class="linenos">233</span>
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<span class="linenos">234</span> <span class="c1"># number of samples/full trajectories (multiple environment steps)</span>
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<span class="linenos">235</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="n">iterations</span><span class="p">):</span>
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<span class="linenos">236</span> <span class="n">ac</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
|
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<span class="linenos">237</span> <span class="n">obs</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">ac</span><span class="p">)</span>
|
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<span class="linenos">238</span> <span class="n">rewards</span> <span class="o">+=</span> <span class="n">reward</span>
|
||
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|
<span class="linenos">239</span>
|
||
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<span class="linenos">240</span> <span class="k">if</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span><span class="p">:</span>
|
||
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|
<span class="linenos">241</span> <span class="nb">print</span><span class="p">(</span><span class="n">rewards</span><span class="p">)</span>
|
||
|
|
<span class="linenos">242</span> <span class="n">rewards</span> <span class="o">=</span> <span class="mi">0</span>
|
||
|
|
<span class="linenos">243</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
|
||
|
|
<span class="linenos">244</span>
|
||
|
|
<span class="linenos">245</span> <span class="k">try</span><span class="p">:</span> <span class="c1"># Some mujoco-based envs don't correlcty implement .close</span>
|
||
|
|
<span class="linenos">246</span> <span class="n">env</span><span class="o">.</span><span class="n">close</span><span class="p">()</span>
|
||
|
|
<span class="linenos">247</span> <span class="k">except</span><span class="p">:</span>
|
||
|
|
<span class="linenos">248</span> <span class="k">pass</span>
|
||
|
|
<span class="linenos">249</span>
|
||
|
|
<span class="linenos">250</span>
|
||
|
|
<span class="linenos">251</span><span class="k">def</span> <span class="nf">main</span><span class="p">():</span>
|
||
|
|
<span class="linenos">252</span> <span class="n">render</span> <span class="o">=</span> <span class="kc">False</span>
|
||
|
|
<span class="linenos">253</span> <span class="c1"># DMP</span>
|
||
|
|
<span class="linenos">254</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_DMP/HoleReacher-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">5</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">255</span>
|
||
|
|
<span class="linenos">256</span> <span class="c1"># ProMP</span>
|
||
|
|
<span class="linenos">257</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_ProMP/HoleReacher-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">5</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">258</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_ProMP/BoxPushingTemporalSparse-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">259</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_ProMP/TableTennis4D-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">20</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">260</span>
|
||
|
|
<span class="linenos">261</span> <span class="c1"># ProDMP with Replanning</span>
|
||
|
|
<span class="linenos">262</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_ProDMP/BoxPushingDenseReplan-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">4</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">263</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_ProDMP/TableTennis4DReplan-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">20</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">264</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"fancy_ProDMP/TableTennisWindReplan-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">20</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">265</span>
|
||
|
|
<span class="linenos">266</span> <span class="c1"># Altered basis functions</span>
|
||
|
|
<span class="linenos">267</span> <span class="n">obs1</span> <span class="o">=</span> <span class="n">example_custom_mp</span><span class="p">(</span><span class="s2">"fancy_ProMP/Reacher5d-v0"</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">268</span>
|
||
|
|
<span class="linenos">269</span> <span class="c1"># Custom MP</span>
|
||
|
|
<span class="linenos">270</span> <span class="n">example_fully_custom_mp</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">271</span> <span class="n">example_fully_custom_mp_alternative</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="mi">10</span><span class="p">,</span> <span class="n">iterations</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="n">render</span><span class="p">)</span>
|
||
|
|
<span class="linenos">272</span>
|
||
|
|
<span class="linenos">273</span><span class="k">if</span> <span class="vm">__name__</span><span class="o">==</span><span class="s1">'__main__'</span><span class="p">:</span>
|
||
|
|
<span class="linenos">274</span> <span class="n">main</span><span class="p">()</span>
|
||
|
|
</pre></div>
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