Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add RacecarGymEnv as a gym experimentation environment

Browse Source
This commit is contained in:
Erwin Coumans
2017-06-08 19:45:48 -07:00
parent 7ee8126d66
commit 0aeb4d5058
6 changed files with 189 additions and 3 deletions
Download Patch File Download Diff File Expand all files Collapse all files

2
examples/pybullet/examples/createSphereMultiBodies.py
View File

@@ -5,8 +5,6 @@ useMaximalCoordinates = 0
p.connect(p.GUI)
p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
p.setPhysicsEngineParameter(numSolverIterations=10)
p.setPhysicsEngineParameter(fixedTimeStep=1./120.)
sphereRadius = 0.05
colSphereId = p.createCollisionShape(p.GEOM_SPHERE,radius=sphereRadius)
colBoxId = p.createCollisionShape(p.GEOM_BOX,halfExtents=[sphereRadius,sphereRadius,sphereRadius])

7
examples/pybullet/examples/racecar.py
View File

@@ -20,7 +20,12 @@ car = p.loadURDF("racecar/racecar.urdf")
for i in range (p.getNumJoints(car)):
print (p.getJointInfo(car,i))
wheels = [2,3,5,7]
inactive_wheels = [3,5,7]
wheels = [2]
for wheel in inactive_wheels:
p.setJointMotorControl2(car,wheel,p.VELOCITY_CONTROL,targetVelocity=0,force=0)
steering = [4,6]
targetVelocitySlider = p.addUserDebugParameter("wheelVelocity",-10,10,0)