33 lines
851 B
Python
33 lines
851 B
Python
#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
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import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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parentdir = os.path.dirname(os.path.dirname(currentdir))
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os.sys.path.insert(0, parentdir)
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import gym
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from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
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from baselines import deepq
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def main():
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env = KukaGymEnv(renders=True, isDiscrete=True)
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act = deepq.load("kuka_model.pkl")
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print(act)
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while True:
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obs, done = env.reset(), False
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print("===================================")
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print("obs")
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print(obs)
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episode_rew = 0
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while not done:
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env.render()
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obs, rew, done, _ = env.step(act(obs[None])[0])
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episode_rew += rew
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print("Episode reward", episode_rew)
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if __name__ == '__main__':
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main()
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