29 lines
1.1 KiB
Python
29 lines
1.1 KiB
Python
from alr_envs.utils.legacy.utils import make_holereacher_env
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import numpy as np
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if __name__ == "__main__":
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n_samples = 1
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n_cpus = 4
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dim = 30
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# env = DmpAsyncVectorEnv([make_viapointreacher_env(i) for i in range(n_cpus)],
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# n_samples=n_samples)
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test_env = make_holereacher_env(0)()
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# params = np.random.randn(n_samples, dim)
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params = np.array([[1.386102, -3.29980525, 4.70402733, 1.3966668, 0.73774902,
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3.14676681, -4.98644416, 6.20303193, 1.30502127, -0.09330522,
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7.62656797, -5.76893033, 3.4706711, -0.6944142, -3.33442788,
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12.31421548, -0.72760271, -6.9090723, 7.02903814, -8.7236836,
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1.4805914, 0.53185824, -5.46626893, 0.69692163, 13.58472666,
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0.77199316, 2.02906724, -3.0203244, -1.00533159, -0.57417351]])
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# 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])])
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rew, info = test_env.rollout(params, render=True)
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print(rew)
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# out = env(params)
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# print(out)
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