From 51e8503873ca87f304d247dedd3386c332bc9ca9 Mon Sep 17 00:00:00 2001
From: Maximilian Huettenrauch <max.huettenrauch@gmail.com>
Date: Tue, 13 Apr 2021 09:51:34 +0200
Subject: [PATCH] updates

---
 .../mujoco/ball_in_a_cup/assets/biac_base.xml | 20 +++++++++----------
 dmp_env_wrapper_example.py                    |  2 +-
 dmp_pd_control_example.py                     |  9 +++++----
 3 files changed, 16 insertions(+), 15 deletions(-)

diff --git a/alr_envs/mujoco/ball_in_a_cup/assets/biac_base.xml b/alr_envs/mujoco/ball_in_a_cup/assets/biac_base.xml
index 33fbb9d..58f0ac6 100644
--- a/alr_envs/mujoco/ball_in_a_cup/assets/biac_base.xml
+++ b/alr_envs/mujoco/ball_in_a_cup/assets/biac_base.xml
@@ -327,16 +327,16 @@
                 </body>
             </body>
         </body>
-        <site name="context_point" pos="-0.20869846 -0.66376693 1.18088501" euler="-1.57 0 0" size="0.015" rgba="1 0 0 0.6" type="sphere"/>
-        <site name="context_point1" pos="-0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point2" pos="-0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point3" pos="-0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point4" pos="-0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point5" pos="0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point6" pos="0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point7" pos="0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_point8" pos="0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>
-        <site name="context_space" pos="0 -0.6 1.1165" euler="0 0 0" size="0.5 0.25 0.3" rgba="0 0 1 0.15" type="box"/>
+<!--        <site name="context_point" pos="-0.20869846 -0.66376693 1.18088501" euler="-1.57 0 0" size="0.015" rgba="1 0 0 0.6" type="sphere"/>-->
+<!--        <site name="context_point1" pos="-0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point2" pos="-0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point3" pos="-0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point4" pos="-0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point5" pos="0.5 -0.85 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point6" pos="0.5 -0.85 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point7" pos="0.5 -0.35 0.8165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_point8" pos="0.5 -0.35 1.4165" euler="-1.57 0 0" size="0.015" rgba="0 1 0 0.3" type="sphere"/>-->
+<!--        <site name="context_space" pos="0 -0.6 1.1165" euler="0 0 0" size="0.5 0.25 0.3" rgba="0 0 1 0.15" type="box"/>-->
         <camera name="visualization" mode="targetbody" target="wam/wrist_yaw_link" pos="1.5 -0.4 2.2"/>
         <camera name="experiment" mode="fixed" quat="0.44418059 0.41778323 0.54301123 0.57732103" pos="1.5 -0.3 1.33" />
     </worldbody>
diff --git a/dmp_env_wrapper_example.py b/dmp_env_wrapper_example.py
index 91309e8..bb886c6 100644
--- a/dmp_env_wrapper_example.py
+++ b/dmp_env_wrapper_example.py
@@ -28,7 +28,7 @@ if __name__ == "__main__":
 
     # params = np.hstack([50 * np.random.randn(n_samples, 25), np.tile(np.array([np.pi/2, -np.pi/4, -np.pi/4, -np.pi/4, -np.pi/4]), [n_samples, 1])])
 
-    rew, info = test_env.rollout(params, render=False)
+    rew, info = test_env.rollout(params, render=True)
     print(rew)
 
     # out = env(params)
diff --git a/dmp_pd_control_example.py b/dmp_pd_control_example.py
index e574134..480ce72 100644
--- a/dmp_pd_control_example.py
+++ b/dmp_pd_control_example.py
@@ -1,6 +1,7 @@
 from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env, make_simple_dmp_env
 from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
 import numpy as np
+from gym import wrappers
 
 
 if __name__ == "__main__":
@@ -21,10 +22,10 @@ if __name__ == "__main__":
     non_vec_env = make_simple_dmp_env(0, 0)()
 
     # params = 0.5 * np.random.randn(dim)
-    params = np.array([[-2.04114375, -2.62248565,  1.35999138,  4.29883804,  0.09143854,
-         8.1752235 , -1.47063842,  0.60865483, -3.1697385 , 10.95458786,
-         2.81887935,  3.6400505 ,  1.43011501, -4.36044191, -3.66816722]])
+    params = np.array([-2.63357598, -1.04950296, -0.44330737,  0.52950017,  4.29247739,
+        4.52473661, -0.05685977, -0.76796851,  3.71540499,  1.22631059,
+        2.20412438,  3.91588129, -0.12652723, -3.0788211 ,  0.56204464])
 
-    out2 = non_vec_env.rollout(params, render=False)
+    out2 = non_vec_env.rollout(params, render=True )
 
     print(out2)