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<section id="openai-envs-examples">
<h1>OpenAI Envs Examples<a class="headerlink" href="#openai-envs-examples" title="Permalink to this heading"></a></h1>
<div class="highlight-python notranslate"><div class="highlight"><pre><span></span><span class="linenos"> 1</span><span class="kn">import</span> <span class="nn">gymnasium</span> <span class="k">as</span> <span class="nn">gym</span>
<span class="linenos"> 2</span><span class="kn">import</span> <span class="nn">fancy_gym</span>
<span class="linenos"> 3</span>
<span class="linenos"> 4</span>
<span class="linenos"> 5</span><span class="k">def</span> <span class="nf">example_mp</span><span class="p">(</span><span class="n">env_name</span><span class="p">,</span> <span class="n">seed</span><span class="o">=</span><span class="mi">1</span><span class="p">,</span> <span class="n">render</span><span class="o">=</span><span class="kc">True</span><span class="p">):</span>
<span class="linenos"> 6</span><span class="w"> </span><span class="sd">"""</span>
<span class="linenos"> 7</span><span class="sd"> Example for running a movement primitive based version of a OpenAI-gym environment, which is already registered.</span>
<span class="linenos"> 8</span><span class="sd"> For more information on movement primitive specific stuff, look at the traj_gen examples.</span>
<span class="linenos"> 9</span><span class="sd"> Args:</span>
<span class="linenos">10</span><span class="sd"> env_name: ProMP env_id</span>
<span class="linenos">11</span><span class="sd"> seed: seed</span>
<span class="linenos">12</span><span class="sd"> render: boolean</span>
<span class="linenos">13</span><span class="sd"> Returns:</span>
<span class="linenos">14</span>
<span class="linenos">15</span><span class="sd"> """</span>
<span class="linenos">16</span> <span class="n">env</span> <span class="o">=</span> <span class="n">gym</span><span class="o">.</span><span class="n">make</span><span class="p">(</span><span class="n">env_name</span><span class="p">)</span>
<span class="linenos">17</span>
<span class="linenos">18</span> <span class="n">returns</span> <span class="o">=</span> <span class="mi">0</span>
<span class="linenos">19</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">(</span><span class="n">seed</span><span class="o">=</span><span class="n">seed</span><span class="p">)</span>
<span class="linenos">20</span> <span class="c1"># number of samples/full trajectories (multiple environment steps)</span>
<span class="linenos">21</span> <span class="k">for</span> <span class="n">i</span> <span class="ow">in</span> <span class="nb">range</span><span class="p">(</span><span class="mi">10</span><span class="p">):</span>
<span class="linenos">22</span> <span class="k">if</span> <span class="n">render</span> <span class="ow">and</span> <span class="n">i</span> <span class="o">%</span> <span class="mi">2</span> <span class="o">==</span> <span class="mi">0</span><span class="p">:</span>
<span class="linenos">23</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">(</span><span class="n">mode</span><span class="o">=</span><span class="s2">"human"</span><span class="p">)</span>
<span class="linenos">24</span> <span class="k">else</span><span class="p">:</span>
<span class="linenos">25</span> <span class="n">env</span><span class="o">.</span><span class="n">render</span><span class="p">()</span>
<span class="linenos">26</span> <span class="n">ac</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">action_space</span><span class="o">.</span><span class="n">sample</span><span class="p">()</span>
<span class="linenos">27</span> <span class="n">obs</span><span class="p">,</span> <span class="n">reward</span><span class="p">,</span> <span class="n">terminated</span><span class="p">,</span> <span class="n">truncated</span><span class="p">,</span> <span class="n">info</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">step</span><span class="p">(</span><span class="n">ac</span><span class="p">)</span>
<span class="linenos">28</span> <span class="n">returns</span> <span class="o">+=</span> <span class="n">reward</span>
<span class="linenos">29</span>
<span class="linenos">30</span> <span class="k">if</span> <span class="n">terminated</span> <span class="ow">or</span> <span class="n">truncated</span><span class="p">:</span>
<span class="linenos">31</span> <span class="nb">print</span><span class="p">(</span><span class="n">returns</span><span class="p">)</span>
<span class="linenos">32</span> <span class="n">obs</span> <span class="o">=</span> <span class="n">env</span><span class="o">.</span><span class="n">reset</span><span class="p">()</span>
<span class="linenos">33</span>
<span class="linenos">34</span>
<span class="linenos">35</span><span class="k">if</span> <span class="vm">__name__</span> <span class="o">==</span> <span class="s1">'__main__'</span><span class="p">:</span>
<span class="linenos">36</span> <span class="n">example_mp</span><span class="p">(</span><span class="s2">"gym_ProMP/Reacher-v2"</span><span class="p">)</span>
</pre></div>
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