33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
from alr_envs.classic_control.utils import make_viapointreacher_env
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from alr_envs.utils.dmp_async_vec_env import DmpAsyncVectorEnv
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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 = 25
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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_viapointreacher_env(0)()
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# params = np.random.randn(n_samples, dim)
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params = np.array([ 217.54494933, -1.85169983, 24.08414447, 42.23816868,
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23.32071702, 7.60780651, -31.74777741, 265.50634253,
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463.43822562, 245.93948374, -272.64003621, -45.24999553,
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503.21185823, 809.17742517, 393.12387021, -196.54196471,
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6.79327307, 374.82429078, 552.4119579 , 197.3963343 ,
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243.87357056, -39.56041541, -616.93957463, -710.0772516 ,
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-414.21769789])
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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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