fixed hole width for HoleReacher-v1

alr_envs/__init__.py

@@ -2,8 +2,6 @@ from gym.envs.registration import register
 
 from alr_envs.stochastic_search.functions.f_rosenbrock import Rosenbrock
 
-# from alr_envs.utils.mps.dmp_wrapper import DmpWrapper
-
 # Mujoco
 
 register(
@@ -191,7 +189,7 @@ register(
         "random_start": False,
         "allow_self_collision": False,
         "allow_wall_collision": False,
-        "hole_width": None,
+        "hole_width": 0.25,
         "hole_depth": 1,
         "hole_x": None,
         "collision_penalty": 100,

alr_envs/mujoco/reacher/alr_reacher.py

@@ -86,3 +86,21 @@ class ALRReacherEnv(MujocoEnv, utils.EzPickle):
             # self.get_body_com("target"),  # only return target to make problem harder
             [self._steps],
         ])
+
+if __name__ == '__main__':
+    nl = 5
+    render_mode = "human"  # "human" or "partial" or "final"
+    env = ALRReacherEnv(n_links=nl)
+    obs = env.reset()
+
+    for i in range(2000):
+        # objective.load_result("/tmp/cma")
+        # test with random actions
+        ac = env.action_space.sample()
+        obs, rew, d, info = env.step(ac)
+        if i % 10 == 0:
+            env.render(mode=render_mode)
+        if d:
+            env.reset()
+
+    env.close()