35 lines
1.3 KiB
Python
35 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
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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 = np.random.randn(n_samples, dim)
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params = np.array([ 0.57622273, 0.98294602, 1.48964131, 0.65430972,
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-0.26028221, 4.84693322, 1.77366128, 0.51080511,
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-2.38201107, -0.84990048, 1.02289828, 1.20675551,
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0.38075566, -1.84282938, -3.48690172, 2.17434711,
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-1.79285349, -1.7533641 , 0.62802966, 1.18928357,
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0.2818753 , -3.27708291, -0.91761804, -0.38350967,
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2.25849139, 21.57786524, -14.38494647, -11.5380005 ,
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-11.09529721, -0.39453533])
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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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