add mpi_run version (not working yet)

examples/pybullet/gym/pybullet_envs/deep_mimic/DeepMimic_Optimizer.py

@@ -0,0 +1,52 @@
+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 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:]
+
+    world = build_world(args, enable_draw=False)
+
+    run()
+    shutdown()
+
+    return
+
+if __name__ == '__main__':
+    main()