Add open ai gym environments

alr_envs/examples/examples_open_ai.py

@@ -0,0 +1,41 @@
+from alr_envs.utils.make_env_helpers import make_env
+
+
+def example_mp(env_name, seed=1):
+    """
+    Example for running a motion primitive based version of a OpenAI-gym environment, which is already registered.
+    For more information on motion primitive specific stuff, look at the mp examples.
+    Args:
+        env_name: DetPMP env_id
+        seed: seed
+
+    Returns:
+
+    """
+    # While in this case gym.make() is possible to use as well, we recommend our custom make env function.
+    env = make_env(env_name, seed)
+
+    rewards = 0
+    obs = env.reset()
+
+    # number of samples/full trajectories (multiple environment steps)
+    for i in range(10):
+        ac = env.action_space.sample()
+        obs, reward, done, info = env.step(ac)
+        rewards += reward
+
+        if done:
+            print(rewards)
+            rewards = 0
+            obs = env.reset()
+
+if __name__ == '__main__':
+    # DMP - not supported yet
+    #example_mp("ReacherDetPMP-v2")
+
+    # DetProMP
+    example_mp("ContinuousMountainCarDetPMP-v0")
+    example_mp("ReacherDetPMP-v2")
+    example_mp("FetchReachDenseDetPMP-v1")
+    example_mp("FetchSlideDenseDetPMP-v1")
+