add gym examples

examples/pybullet/gym/minitaur_bullet_gym_example.py

@@ -0,0 +1,27 @@
+import gym
+import numpy as np
+import math
+
+from envs.bullet.minitaur_bullet import MinitaurBulletEnv
+
+def main():
+    environment = gym.make('MinitaurBulletEnv-v0')
+    sum_reward = 0
+    steps = 1000
+    amplitude = 0.5
+    speed = 0.3
+
+    for stepCounter in range(steps):
+      a1 = math.sin(stepCounter*speed)*amplitude
+      a2 = math.sin(stepCounter*speed+3.14)*amplitude
+      action = [a1, 0, a2, 0, 0, a1, 0, a2]
+      state, reward, done, info = environment.step(action)
+      sum_reward += reward
+      print(state)
+      if done:
+        environment.reset()
+    average_reward = sum_reward / steps
+    print("avg reward: ", average_reward)
+
+
+main()