#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
import os, 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)

import gym
from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv

from baselines import deepq


def main():
    
    env = KukaGymEnv(renders=True, isDiscrete=True)
    act = deepq.load("kuka_model.pkl")
    print(act)
    while True:
        obs, done = env.reset(), False
        print("===================================")        
        print("obs")
        print(obs)
        episode_rew = 0
        while not done:
            env.render()
            obs, rew, done, _ = env.step(act(obs[None])[0])
            episode_rew += rew
        print("Episode reward", episode_rew)


if __name__ == '__main__':
    main()