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import gym
import mobileBase
import time
import numpy as np
def main():
env = gym.make('mobile-base-vel-v0', dt=0.01)
defaultAction = [2.1]
n_episodes = 1
n_steps = 1000
cumReward = 0.0
for e in range(n_episodes):
ob = env.reset()
print("Starting episode")
for i in range(n_steps):
time.sleep(env._dt)
action = env.action_space.sample()
action = defaultAction
env.render()
ob, reward, done, info = env.step(action)
cumReward += reward
if done:
break
if __name__ == '__main__':
main()