text: #!/usr/bin/env python
  # noinspection PyUnresolvedReferences
  import mujoco_py # Mujoco must come before other imports. https://openai.slack.com/archives/C1H6P3R7B/p1492828680631850
  from mpi4py import MPI
  from baselines.common import set_global_seeds
  import os.path as osp
  import gym
  import logging
  from baselines import logger
  from baselines.ppo1.mlp_policy import MlpPolicy
  from baselines.common.mpi_fork import mpi_fork
  from baselines import bench
  from baselines.trpo_mpi import trpo_mpi
  import sys
  
  def train(env_id, num_timesteps, seed):
      import baselines.common.tf_util as U
      sess = U.single_threaded_session()
      sess.__enter__()
  
      rank = MPI.COMM_WORLD.Get_rank()
      if rank != 0:
          logger.set_level(logger.DISABLED)
      workerseed = seed + 10000 * MPI.COMM_WORLD.Get_rank()
      set_global_seeds(workerseed)
      env = gym.make(env_id)
      def policy_fn(name, ob_space, ac_space):
          return MlpPolicy(name=name, ob_space=env.observation_space, ac_space=env.action_space,
              hid_sizes=[32, 32])
      env = bench.Monitor(env, logger.get_dir() and 
          osp.join(logger.get_dir(), "%i.monitor.json" % rank))
      env.seed(workerseed)
      gym.logger.setLevel(logging.WARN)
  
      trpo_mpi.learn(env, policy_fn, timesteps_per_batch=1024, max_kl=0.01, cg_iters=10, cg_damping=0.1,
          max_timesteps=num_timesteps, gamma=0.99, lam=0.98, vf_iters=5, vf_stepsize=1e-3)
      env.close()
  
  def main():
      import argparse
      parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
      parser.add_argument('--env', help='environment ID', default='Hopper-v1')
      parser.add_argument('--seed', help='RNG seed', type=int, default=0)
      args = parser.parse_args()
      train(args.env, num_timesteps=1e6, seed=args.seed)
  
  
  if __name__ == '__main__':
      main()
  