diff --git a/examples/pybullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py b/examples/pybullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py
new file mode 100644
index 000000000..00fe0d6b3
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_envs/examples/kukaCamGymEnvTest.py
@@ -0,0 +1,40 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os, inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
+from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv
+import time
+
+def main():
+
+	environment = KukaCamGymEnv(renders=True,isDiscrete=False)
+	
+	  
+	motorsIds=[]
+	#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
+	#motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
+	#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
+	#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
+	#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
+	
+	dv = 1 
+	motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
+	motorsIds.append(environment._p.addUserDebugParameter("posY",-dv,dv,0))
+	motorsIds.append(environment._p.addUserDebugParameter("posZ",-dv,dv,0))
+	motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
+	motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
+	
+	done = False
+	while (not done):
+	    
+	  action=[]
+	  for motorId in motorsIds:
+	    action.append(environment._p.readUserDebugParameter(motorId))
+	  
+	  state, reward, done, info = environment.step(action)
+	  obs = environment.getExtendedObservation()
+	  
+if __name__=="__main__":
+    main()