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")
24 lines
667 B
Python
24 lines
667 B
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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environment._kuka.useInverseKinematics=0
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motorsIds=[]
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for i in range (len(environment._kuka.motorNames)):
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motor = environment._kuka.motorNames[i]
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motorJointIndex = environment._kuka.motorIndices[i]
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motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
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while (True):
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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.step(action)
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obs = environment.getExtendedObservation()
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time.sleep(0.01)
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