[python]mujoco_py安装后测试代码

mujoco_py测试： 

import mujoco_py
import os
#mj_path, _ = mujoco_py.utils.discover_mujoco()
mj_path = mujoco_py.utils.discover_mujoco() #注意不同版本可能返回参数不一样
xml_path = os.path.join(mj_path, 'model', 'humanoid.xml')
model = mujoco_py.load_model_from_path(xml_path)
sim = mujoco_py.MjSim(model)

print(sim.data.qpos)
# [0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0. 0.]

sim.step()
print(sim.data.qpos)
# [-2.09531783e-19  2.72130735e-05  6.14480786e-22 -3.45474715e-06
#   7.42993721e-06 -1.40711141e-04 -3.04253586e-04 -2.07559344e-04
#   8.506247e-05 -3.45474715e-06  7.42993721e-06 -1.40711141e-04
#  -3.04253586e-04 -2.07559344e-04 -8.506247e-05  1.11317030e-04
#  -7.03465386e-05 -2.22862221e-05 -1.11317030e-04  7.03465386e-05
#  -2.22862221e-05]

gym测试：

import gym
env=gym.make('Assault-v4',render_mode='human')
env.reset()
for _ in range(100000):
    action=env.action_space.sample()
    env.step(action)
env.close()