def step_bullet_kuka_env(n_steps=1000):
"""Load, step, and visualize a Bullet Kuka environment.
Args:
n_steps (int): number of steps to run.
"""
# Construct the environment
env = BulletEnv(
gym.make('KukaBulletEnv-v0',
renders=True,
isDiscrete=True,
maxSteps=10000000))
# Reset the environment and launch the viewer
env.reset()
env.render()
# Step randomly until interrupted
steps = 0
while steps < n_steps:
_, _, done, _ = env.step(env.action_space.sample())
if done:
break
steps += 1
def test_time_limit_env():
"""Test BulletEnv emits done signal when time limit expiration occurs.
After setting max_episode_steps=50, info['BulletEnv.TimeLimitTerminated']
is expected to be True after 50 steps.
"""
env = BulletEnv(gym.make('MinitaurBulletEnv-v0'))
env.env._max_episode_steps = 50
env.reset()
for _ in range(50):
_, _, done, info = env.step(env.spec.action_space.sample())
assert not done and info['TimeLimit.truncated']
assert info['BulletEnv.TimeLimitTerminated']
