Too much console output during env creation

[jonasreiher]

Describe the bug

Currently, when creating an environment, a whole bunch of stuff is printed to the console:

console output

``` argv[0]=--background_color_red=0.8745098114013672 argv[1]= argv[2]= argv[3]= argv[4]= argv[5]= argv[6]= argv[7]= argv[8]= argv[9]= argv[10]= argv[11]= argv[12]= argv[13]= argv[14]= argv[15]= argv[16]= argv[17]= argv[18]= argv[19]= argv[20]= argv[21]=--background_color_green=0.21176470816135406 argv[22]= argv[23]= argv[24]= argv[25]= argv[26]= argv[27]= argv[28]= argv[29]= argv[30]= argv[31]= argv[32]= argv[33]= argv[34]= argv[35]= argv[36]= argv[37]= argv[38]= argv[39]= argv[40]= argv[41]= argv[42]=--background_color_blue=0.1764705926179886 startThreads creating 1 threads. starting thread 0 started thread 0 argc=45 argv[0] = --unused argv[1] = --background_color_red=0.8745098114013672 argv[2] = argv[3] = argv[4] = argv[5] = argv[6] = argv[7] = argv[8] = argv[9] = argv[10] = argv[11] = argv[12] = argv[13] = argv[14] = argv[15] = argv[16] = argv[17] = argv[18] = argv[19] = argv[20] = argv[21] = argv[22] = --background_color_green=0.21176470816135406 argv[23] = argv[24] = argv[25] = argv[26] = argv[27] = argv[28] = argv[29] = argv[30] = argv[31] = argv[32] = argv[33] = argv[34] = argv[35] = argv[36] = argv[37] = argv[38] = argv[39] = argv[40] = argv[41] = argv[42] = argv[43] = --background_color_blue=0.1764705926179886 argv[44] = --start_demo_name=Physics Server ExampleBrowserThreadFunc started X11 functions dynamically loaded using dlopen/dlsym OK! X11 functions dynamically loaded using dlopen/dlsym OK! Creating context Created GL 3.3 context Direct GLX rendering context obtained Making context current GL_VENDOR=Mesa/X.org GL_RENDERER=llvmpipe (LLVM 12.0.0, 256 bits) GL_VERSION=4.5 (Core Profile) Mesa 21.2.6 GL_SHADING_LANGUAGE_VERSION=4.50 pthread_getconcurrency()=0 Version = 4.5 (Core Profile) Mesa 21.2.6 Vendor = Mesa/X.org Renderer = llvmpipe (LLVM 12.0.0, 256 bits) b3Printf: Selected demo: Physics Server startThreads creating 1 threads. starting thread 0 started thread 0 MotionThreadFunc thread started ven = Mesa/X.org ven = Mesa/X.org ```

I couldn't find a way to block this output from outside, since it doesn't seem to use the Python stdout. Otherwise with contextlib.redirect_stdout(os.devnull): should work. I also noticed that in IPython only the argvs are output but I have no idea how to achieve this effect via a .py script.

This output seems to partially be PyBullet's fault, the argvs are initialized via panda-gym, though. All empty argvs could be removed here.

To Reproduce

Provide a minimal code :

import gymnasium as gym
import panda_gym

env = gym.make('PandaPush-v3')

System

• OS: macOS 12.6.1
• Python version (python --version): 3.8.10
• Package version (pip list | grep panda-gym): 3.0.0

[qgallouedec]

I totally agree with you. Those logs are very anoying.

This output seems to partially be PyBullet's faul

They are all from pybullet. However, pybullet devs provide no way to set the verbosity, see https://github.com/bulletphysics/bullet3/issues/3302.

[jonasreiher]

I see, but I think at least all the empty arguments from the argument list can be removed:

The arguments are created here: https://github.com/qgallouedec/panda-gym/blob/09ecfb6d57e0b516ae248ef1d54a4cc7b3db71f1/panda_gym/pybullet.py#L28-L32

But due to line breaks and indentation, options has a lot of whitespace:

'--background_color_red=0.8745098114013672                     --background_color_green=0.21176470816135406                     --background_color_blue=0.1764705926179886'

Every space seems to trigger the creation of a new argument. Something like this gets rid of the extra whitespace and therefore significantly shortens the argument list:

options = " ".join(options.split())

'--background_color_red=0.8745098114013672 --background_color_green=0.21176470816135406 --background_color_blue=0.1764705926179886'

[qgallouedec]

Thanks for spotting this! I would prefer an F-string. I would be happy to receive a PR for this.