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import os
import inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
parentdir = os.path.dirname(os.path.dirname(currentdir))
os.sys.path.insert(0, parentdir)
import pybullet_envs
import gym
import argparse
import pybullet as p
def test(args):
count = 0
env = gym.make(args.env)
env.env.configure(args)
print("args.render=", args.render)
if (args.render == 1):
env.render(mode="human")
env.reset()
if (args.resetbenchmark):
while (1):
env.reset()
print("p.getNumBodies()=", p.getNumBodies())
print("count=", count)
count += 1
print("action space:")
sample = env.action_space.sample()
action = sample * 0.0
print("action=")
print(action)
for i in range(args.steps):
obs, rewards, done, _ = env.step(action)
if (args.rgb):
print(env.render(mode="rgb_array"))
print("obs=")
print(obs)
print("rewards")
print(rewards)
print("done")
print(done)
def main():
import argparse
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
parser.add_argument('--env', help='environment ID', default='AntBulletEnv-v0')
parser.add_argument('--seed', help='RNG seed', type=int, default=0)
parser.add_argument('--render', help='OpenGL Visualizer', type=int, default=0)
parser.add_argument('--rgb', help='rgb_array gym rendering', type=int, default=0)
parser.add_argument('--resetbenchmark',
help='Repeat reset to show reset performance',
type=int,
default=0)
parser.add_argument('--steps', help='Number of steps', type=int, default=1)
args = parser.parse_args()
test(args)
if __name__ == '__main__':
main()
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