from envs.bullet.racecarGymEnv import RacecarGymEnv
print ("hello")
environment = RacecarGymEnv(render=True)

targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)

while (True):
  targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
  steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
  discreteAction = 0
  if (targetVelocity<-0.33):
    discreteAction=0
  else:
    if (targetVelocity>0.33):
      discreteAction=6
    else:
      discreteAction=3
  if (steeringAngle>-0.17):
    if (steeringAngle>0.17):
      discreteAction=discreteAction+2
    else:
      discreteAction=discreteAction+1
    
  action=discreteAction
  state, reward, done, info = environment.step(action)
  obs = environment.getExtendedObservation()
  print("obs")
  print(obs)