:

examples/pybullet/gym/pybullet_robots/panda/loadpanda.py

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+import pybullet as p
+import pybullet_data as pd
+import math
+import time
+import numpy as np
+import panda_sim
+
+p.connect(p.GUI)
+p.configureDebugVisualizer(p.COV_ENABLE_Y_AXIS_UP,1)
+p.setAdditionalSearchPath(pd.getDataPath())
+
+timeStep=1./60.
+p.setTimeStep(timeStep)
+p.setGravity(0,-9.8,0)
+ 
+panda = panda_sim.PandaSim(p,[0,0,0])
+while (1):
+	panda.step()
+	p.stepSimulation()
+	time.sleep(timeStep)
+