22 lines
612 B
Python
22 lines
612 B
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 = 10
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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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params = np.random.randn(n_samples, dim)
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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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# env.reset()
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out = env(params)
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print(out)
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