From f730cb92bafbb31827e353bd14455bc147466a56 Mon Sep 17 00:00:00 2001
From: Maximilian Huettenrauch <max.huettenrauch@gmail.com>
Date: Fri, 26 Mar 2021 14:30:58 +0100
Subject: [PATCH] updates

---
 dmp_env_wrapper_example.py | 14 ++++++++------
 dmp_pd_control_example.py  | 26 +++++++++++++-------------
 2 files changed, 21 insertions(+), 19 deletions(-)

diff --git a/dmp_env_wrapper_example.py b/dmp_env_wrapper_example.py
index 9e817cd..ed86423 100644
--- a/dmp_env_wrapper_example.py
+++ b/dmp_env_wrapper_example.py
@@ -16,12 +16,14 @@ if __name__ == "__main__":
     test_env = make_holereacher_env(0)()
 
     # params = np.random.randn(n_samples, dim)
-    params = np.array([[ 1.386102  , -3.29980525,  4.70402733,  1.3966668 ,  0.73774902,
-         3.14676681, -4.98644416,  6.20303193,  1.30502127, -0.09330522,
-         7.62656797, -5.76893033,  3.4706711 , -0.6944142 , -3.33442788,
-        12.31421548, -0.72760271, -6.9090723 ,  7.02903814, -8.7236836 ,
-         1.4805914 ,  0.53185824, -5.46626893,  0.69692163, 13.58472666,
-         0.77199316,  2.02906724, -3.0203244 , -1.00533159, -0.57417351]])
+    params = np.array([  0.57622273,   0.98294602,   1.48964131,   0.65430972,
+        -0.26028221,   4.84693322,   1.77366128,   0.51080511,
+        -2.38201107,  -0.84990048,   1.02289828,   1.20675551,
+         0.38075566,  -1.84282938,  -3.48690172,   2.17434711,
+        -1.79285349,  -1.7533641 ,   0.62802966,   1.18928357,
+         0.2818753 ,  -3.27708291,  -0.91761804,  -0.38350967,
+         2.25849139,  21.57786524, -14.38494647, -11.5380005 ,
+       -11.09529721,  -0.39453533])
 
     # 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])])
 
diff --git a/dmp_pd_control_example.py b/dmp_pd_control_example.py
index 5abf8fa..44cd668 100644
--- a/dmp_pd_control_example.py
+++ b/dmp_pd_control_example.py
@@ -8,20 +8,20 @@ if __name__ == "__main__":
     dim = 15
     n_cpus = 4
 
-    n_samples = 10
-
-    vec_env = DmpAsyncVectorEnv([make_simple_env(i) for i in range(n_cpus)],
-                                n_samples=n_samples)
-
-    params = np.tile(1 * np.random.randn(n_samples, dim), (10, 1))
-
-    rewards, infos = vec_env(params)
-    print(rewards)
+    # n_samples = 10
     #
-    # non_vec_env = make_simple_env(0, 0)()
+    # vec_env = DmpAsyncVectorEnv([make_simple_env(i) for i in range(n_cpus)],
+    #                             n_samples=n_samples)
     #
-    # params = 10 * np.random.randn(dim)
+    # params = np.tile(1 * np.random.randn(n_samples, dim), (10, 1))
+    #
+    # rewards, infos = vec_env(params)
+    # print(rewards)
+    #
+    non_vec_env = make_simple_env(0, 0)()
 
-    # out2 = non_vec_env.rollout(params, render=True)
+    params = 0.1 * np.random.randn(dim)
 
-    # print(out2)
+    out2 = non_vec_env.rollout(params, render=True)
+
+    print(out2)