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