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allow continuous control for MIT racecar gym environment, use differential drive version

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This commit is contained in:
Erwin Coumans
2017-08-23 23:12:26 -07:00
parent 8a4f51baa4
commit f0c32b84c0
26 changed files with 374 additions and 130 deletions
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4
examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py
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@@ -9,7 +9,7 @@ print ("hello")
environment = RacecarZEDGymEnv(renders=True)
targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-1,1,0)
while (True):
targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
@@ -27,8 +27,8 @@ while (True):
discreteAction=discreteAction+2
else:
discreteAction=discreteAction+1
action=discreteAction
state, reward, done, info = environment.step(action)
obs = environment.getExtendedObservation()
print("obs")