OpenAI Envs Examples

 1import gymnasium as gym
 2import fancy_gym
 3
 4
 5def example_mp(env_name, seed=1, render=True):
 6    """
 7    Example for running a movement primitive based version of a OpenAI-gym environment, which is already registered.
 8    For more information on movement primitive specific stuff, look at the traj_gen examples.
 9    Args:
10        env_name: ProMP env_id
11        seed: seed
12        render: boolean
13    Returns:
14
15    """
16    env = gym.make(env_name)
17
18    returns = 0
19    obs = env.reset(seed=seed)
20    # number of samples/full trajectories (multiple environment steps)
21    for i in range(10):
22        if render and i % 2 == 0:
23            env.render(mode="human")
24        else:
25            env.render()
26        ac = env.action_space.sample()
27        obs, reward, terminated, truncated, info = env.step(ac)
28        returns += reward
29
30        if terminated or truncated:
31            print(returns)
32            obs = env.reset()
33
34
35if __name__ == '__main__':
36    example_mp("gym_ProMP/Reacher-v2")