#!/usr/bin/env python3

import gym

import numpy as np

from termcolor import colored

import time

env = gym.make('gym_grasper:Grasper-v0', show_obs=False, render=True)

N_EPISODES = 100

N_STEPS = 100

env.print_info()

for episode in range(1, N_EPISODES+1):

obs = env.reset()

for step in range(N_STEPS):

print('#################################################################')

print(colored('EPISODE {} STEP {}'.format(episode, step+1), color='white', attrs=['bold']))

print('#################################################################')

action = env.action_space.sample()

# action = [100,100] # multidiscrete

# action = 20000 #discrete

observation, reward, done, _ = env.step(action, record_grasps=True)

# observation, reward, done, _ = env.step(action, record_grasps=True, render=True)

env.close()

print('Finished.')