sim_double_pendulum.py

# Copyright (c) 2018, The SenseAct Authors.
# All rights reserved.
#
# This source code is licensed under the BSD-style license found in the
# LICENSE file in the root directory of this source tree.
from senseact.envs.sim_double_pendulum.sim_double_pendulum import DoubleInvertedPendulumEnv
import numpy as np


def main():
    # Create Asynchronous Simulation of InvertedDoublePendulum-v2 mujoco environment.
    env = DoubleInvertedPendulumEnv(agent_dt=0.005,
                                    sensor_dt=[0.01, 0.0033333],
                                    is_render=True,
                                   )

    # Start environment processes
    env.start()

    # Run 1000 episodes of the environment
    for episode in range(1000):
        done = False
        obs = env.reset()

        # Continue until an episode is done
        while not done:
            # Sample an action uniformly randomly
            action = np.random.uniform(-1.0, 1.0)
            obs, reward, done, _ = env.step(action)

    # Shutdown the environment
    env.close()


if __name__ == '__main__':
    main()