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
25 lines
729 B
Python
25 lines
729 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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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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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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