21f9d1b816
work-in-progress (need to add missing data files, fix paths etc)
example:
pip install pybullet
pip install gym
python
import gym
import pybullet
import pybullet_envs
env = gym.make("HumanoidBulletEnv-v0")
33 lines
1.1 KiB
Python
33 lines
1.1 KiB
Python
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from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
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import time
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environment = KukaGymEnv(renders=True)
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motorsIds=[]
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#motorsIds.append(environment._p.addUserDebugParameter("posX",0.4,0.75,0.537))
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#motorsIds.append(environment._p.addUserDebugParameter("posY",-.22,.3,0.0))
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#motorsIds.append(environment._p.addUserDebugParameter("posZ",0.1,1,0.2))
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#motorsIds.append(environment._p.addUserDebugParameter("yaw",-3.14,3.14,0))
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#motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
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dv = 0.001
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motorsIds.append(environment._p.addUserDebugParameter("posX",-dv,dv,0))
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motorsIds.append(environment._p.addUserDebugParameter("posY",-dv,dv,0))
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motorsIds.append(environment._p.addUserDebugParameter("posZ",-dv,dv,-dv))
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motorsIds.append(environment._p.addUserDebugParameter("yaw",-dv,dv,0))
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motorsIds.append(environment._p.addUserDebugParameter("fingerAngle",0,0.3,.3))
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done = False
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while (not done):
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action=[]
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for motorId in motorsIds:
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action.append(environment._p.readUserDebugParameter(motorId))
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state, reward, done, info = environment.step2(action)
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obs = environment.getExtendedObservation()
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