31 lines
941 B
Python
31 lines
941 B
Python
from alr_envs.mujoco.ball_in_a_cup.utils import make_env, make_simple_env, make_simple_dmp_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 = 15
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n_cpus = 4
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# n_samples = 10
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#
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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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#
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# params = np.tile(1 * np.random.randn(n_samples, dim), (10, 1))
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#
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# rewards, infos = vec_env(params)
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# print(rewards)
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#
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non_vec_env = make_simple_dmp_env(0, 0)()
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# params = 0.5 * np.random.randn(dim)
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params = np.array([[-2.04114375, -2.62248565, 1.35999138, 4.29883804, 0.09143854,
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8.1752235 , -1.47063842, 0.60865483, -3.1697385 , 10.95458786,
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2.81887935, 3.6400505 , 1.43011501, -4.36044191, -3.66816722]])
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out2 = non_vec_env.rollout(params, render=False)
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print(out2)
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