d2888f0884
fix tray/tray_textured4.obj and tray/tray.urdf fix kuka_with_cube.py allow both IK /end-effector control and joint-space control in kuka environment, use 1./240. sec. step and 150 solver iter bump up pybullet to 1.1.7
24 lines
658 B
Python
24 lines
658 B
Python
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from 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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