22 lines
604 B
Python
22 lines
604 B
Python
|
|
from envs.bullet.kukaGymEnv import KukaGymEnv
|
|
print ("hello")
|
|
environment = KukaGymEnv(renders=True)
|
|
|
|
|
|
motorsIds=[]
|
|
for i in range (len(environment._kuka.motorNames)):
|
|
motor = environment._kuka.motorNames[i]
|
|
motorJointIndex = environment._kuka.motorIndices[i]
|
|
motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
|
|
|
|
while (True):
|
|
|
|
action=[]
|
|
for motorId in motorsIds:
|
|
action.append(environment._p.readUserDebugParameter(motorId))
|
|
|
|
state, reward, done, info = environment.step(action)
|
|
obs = environment.getExtendedObservation()
|
|
|