42 lines
1.5 KiB
Python
42 lines
1.5 KiB
Python
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
|
|
import os, inspect
|
|
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
|
|
parentdir = os.path.dirname(os.path.dirname(currentdir))
|
|
os.sys.path.insert(0, parentdir)
|
|
|
|
from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
|
|
import time
|
|
|
|
|
|
def main():
|
|
|
|
environment = KukaGymEnv(renders=True, isDiscrete=False, maxSteps=10000000)
|
|
|
|
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 = 0.01
|
|
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, 0))
|
|
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()
|
|
|
|
|
|
if __name__ == "__main__":
|
|
main()
|