spam.py

#!/usr/bin/env python

import pyrep
from multiprocessing import Process
from grasp_xyg_env import GraspXYGEnv
import pickpp
import morefusion

# def run():
#     pr = pyrep.PyRep()
#     with pyrep.backend.utils.suppress_std_out_and_err():
#         pr.launch()
#
#     config = pickpp.simulation.ObjectConfiguration(
#         pyrep=pr,
#         models=morefusion.datasets.YCBVideoModels(),
#     )
#     while True:
#         config.spawn_a_model(class_id=2)

def run():
    env = GraspXYGEnv()
    env.launch()
    while True:
        env.reset()
    env.close()

PROCESSES = 10
processes = [Process(target=run, args=()) for i in range(PROCESSES)]
[p.start() for p in processes]
[p.join() for p in processes]