import numpy as np
import sys
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)
print("parentdir=",parentdir)


from pybullet_envs.deep_mimic.env.pybullet_deep_mimic_env  import PyBulletDeepMimicEnv
from pybullet_envs.deep_mimic.learning.rl_world import RLWorld
from pybullet_utils.logger import Logger
from pybullet_envs.deep_mimic.testrl import update_world, update_timestep, build_world
import pybullet_utils.mpi_util as MPIUtil

args = []
world = None

def run():
    global update_timestep
    global world

    done = False
    while not (done):
        update_world(world, update_timestep)

    return

def shutdown():
    global world

    Logger.print2('Shutting down...')
    world.shutdown()
    return

def main():
    global args
    global world

    # Command line arguments
    args = sys.argv[1:]
    enable_draw = False
    world = build_world(args, enable_draw)

    run()
    shutdown()

    return

if __name__ == '__main__':
    main()
