Added rbs_gym package for RL & multi-robot launch setup

env_manager/rbs_gym/scripts/test_agent.py

@@ -0,0 +1,101 @@
+#!/usr/bin/env python3
+
+import argparse
+from typing import Dict
+
+import gymnasium as gym
+from stable_baselines3.common.env_checker import check_env
+
+from rbs_gym import envs as gz_envs
+from rbs_gym.utils.utils import StoreDict, str2bool
+
+
+def main(args: Dict):
+
+    # Create the environment
+    env = gym.make(args.env, **args.env_kwargs)
+
+    # Initialize random seed
+    env.seed(args.seed)
+
+    # Check the environment
+    if args.check_env:
+        check_env(env, warn=True, skip_render_check=True)
+
+    # Step environment for bunch of episodes
+    for episode in range(args.n_episodes):
+
+        # Initialize returned values
+        done = False
+        total_reward = 0
+
+        # Reset the environment
+        observation = env.reset()
+
+        # Step through the current episode until it is done
+        while not done:
+
+            # Sample random action
+            action = env.action_space.sample()
+
+            # Step the environment with the random action
+            observation, reward, truncated, terminated, info = env.step(action)
+
+            done = truncated or terminated
+
+            # Accumulate the reward
+            total_reward += reward
+
+        print(f"Episode #{episode}\n\treward: {total_reward}")
+
+    # Cleanup once done
+    env.close()
+
+
+if __name__ == "__main__":
+
+    parser = argparse.ArgumentParser()
+
+    # Environment and its parameters
+    parser.add_argument(
+        "--env", type=str, default="Reach-Gazebo-v0", help="Environment ID"
+    )
+    parser.add_argument(
+        "--env-kwargs",
+        type=str,
+        nargs="+",
+        action=StoreDict,
+        help="Optional keyword argument to pass to the env constructor",
+    )
+
+    # Number of episodes to run
+    parser.add_argument(
+        "-n",
+        "--n-episodes",
+        type=int,
+        default=10000,
+        help="Overwrite the number of episodes",
+    )
+
+    # Random seed
+    parser.add_argument("--seed", type=int, default=69, help="Random generator seed")
+
+    # Flag to check environment
+    parser.add_argument(
+        "--check-env",
+        type=str2bool,
+        default=True,
+        help="Flag to check the environment before running the random agent",
+    )
+
+    # Flag to enable rendering
+    parser.add_argument(
+        "--render",
+        type=str2bool,
+        default=False,
+        help="Flag to enable rendering",
+    )
+
+    args, unknown = parser.parse_known_args()
+
+    main(args=args)