34 lines
1017 B
Python
34 lines
1017 B
Python
from alr_envs.mujoco.ball_in_a_cup.utils import make_simple_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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dim = 24
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n_cpus = 4
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n_samples = 10
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vec_env = DmpAsyncVectorEnv([make_simple_env(i) for i in range(n_cpus)],
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n_samples=n_samples)
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# params = 10 * np.random.randn(n_samples, dim)
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params = np.array([[ -4.51280364, 24.43701373, 15.73282129, -12.13020392,
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-8.57305795, 2.79806606, -6.38613201, 5.99309385,
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-2.05631886, 24.71684748, 14.05989949, -14.60456967,
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10.51933419, -2.43715355, -6.0767578 , 13.06498129,
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6.18038374, 11.4153859 , 1.40753639, 5.57082387,
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9.81989309, 3.60558787, -9.66996754, 14.28519904]])
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out = vec_env(params)
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print(out)
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#
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non_vec_env = make_simple_env(0, 0)()
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#
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# params = 10 * np.random.randn(dim)
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out2 = non_vec_env.rollout(params, render=True)
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print(out2)
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