from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
import time


environment = KukaGymEnv(renders=True)

  
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 = 0.001
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,-dv))
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.step2(action)
  obs = environment.getExtendedObservation()