36 lines
1.3 KiB
Python
36 lines
1.3 KiB
Python
from alr_envs.classic_control.utils import make_viapointreacher_env
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from alr_envs.classic_control.utils import make_holereacher_env, make_holereacher_fix_goal_env, make_holereacher_env_pmp
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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 = 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 = 1 * np.random.randn(dim)
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params = np.array([ -1.09434772, 7.09294269, 0.98756352, 1.61950682,
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2.66567135, 1.71267901, 8.20010847, 2.50496653,
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-0.34886972, 2.07807773, 8.68615904, 3.66578556,
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5.24572097, -3.21506848, -0.28593896, 17.03756855,
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-5.88445032, 6.02197609, -3.73457261, -4.24772663,
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8.69382861, -10.99939646, 5.31356886, 8.57420996,
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1.05616879, 19.79831628, -23.53288774, -3.32974082,
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-5.86463784, -9.68133089])
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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=False)
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print(rew)
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# out = env(params)
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# print(out)
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