update promp's config

fancy_gym/examples/plotting.py

@@ -0,0 +1,31 @@
+import fancy_gym
+import numpy as np
+import matplotlib.pyplot as plt
+
+# This is the code that I am using to plot the data
+
+
+def plot_trajs(desired_traj, actual_traj, dim):
+    fig, ax = plt.subplots()
+    ax.plot(desired_traj[:, dim], label='desired')
+    ax.plot(actual_traj[:, dim], label='actual')
+    ax.legend()
+    plt.show()
+
+
+def compare_desired_and_actual(env_id: str = "TableTennis4DProMP-v0"):
+    env = fancy_gym.make(env_id, seed=0)
+    env.traj_gen.basis_gn.show_basis(plot=True)
+    env.reset()
+    for _ in range(1):
+        env.render(mode=None)
+        action = env.action_space.sample()
+        obs, reward, done, info = env.step(action)
+        for i in range(1):
+            plot_trajs(info['desired_pos_traj'], info['pos_traj'], i)
+            # plot_trajs(info['desired_vel_traj'], info['vel_traj'], i)
+        if done:
+            env.reset()
+
+if __name__ == "__main__":
+    compare_desired_and_actual(env_id='TableTennis4DProMP-v0')