text: import numpy as np
  import pybullet as p
  import pybullet_data
  import sys
  sys.path.append('../../')
  
  from terrain.obstacle_creator import creator
  from terrain.wide_obstacle import wide_obstacle
  from envir.envs import UniTreeEnv
  import tqdm, time
  
  
  env = UniTreeEnv(
          obs_type= ["vision","joints","inertial"],
          robot_kwargs= dict(
              robot_type= "a1",
              pb_control_mode= "DELTA_POSITION_CONTROL",
              pb_control_kwargs= dict(force= 20),
              simulate_timestep= 1./500,
          ),
          connection_mode= p.GUI,
          env="thin_obstacle",
          bullet_debug= True,
      )
  obs = env.reset()
  env.load_obstacle()
  
  for _ in tqdm.tqdm(range(10000)):
          # env.debug_step()
          # env.pb_client.stepSimulation()
          # image = env.render(camera_name= "front")
          
          #sample是做一个随机采样
          obs = env.step(env.action_space.sample())[0]
          time.sleep(1./500)
  
  
  