40 lines
1.4 KiB
Python
40 lines
1.4 KiB
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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from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
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import time
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def main():
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environment = KukaGymEnv(renders=True, isDiscrete=False, maxSteps=10000000)
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motorsIds = []
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#motorsIds.append(environment._p.addUserDebugParameter("posX",-1,1,0))
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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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dv = 1
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motorsIds.append(environment._p.addUserDebugParameter("posX", -dv, dv, 0))
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motorsIds.append(environment._p.addUserDebugParameter("posY", -dv, dv, 0))
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motorsIds.append(environment._p.addUserDebugParameter("yaw", -dv, dv, 0))
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done = False
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while (not done):
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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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if __name__ == "__main__":
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main()
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