47 lines
1.4 KiB
Python
47 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.racecarGymEnv import RacecarGymEnv
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isDiscrete = False
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def main():
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environment = RacecarGymEnv(renders=True, isDiscrete=isDiscrete)
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environment.reset()
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targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity", -1, 1, 0)
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steeringSlider = environment._p.addUserDebugParameter("steering", -1, 1, 0)
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while (True):
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targetVelocity = environment._p.readUserDebugParameter(targetVelocitySlider)
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steeringAngle = environment._p.readUserDebugParameter(steeringSlider)
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if (isDiscrete):
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discreteAction = 0
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if (targetVelocity < -0.33):
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discreteAction = 0
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else:
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if (targetVelocity > 0.33):
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discreteAction = 6
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else:
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discreteAction = 3
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if (steeringAngle > -0.17):
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if (steeringAngle > 0.17):
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discreteAction = discreteAction + 2
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else:
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discreteAction = discreteAction + 1
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action = discreteAction
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else:
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action = [targetVelocity, steeringAngle]
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state, reward, done, info = environment.step(action)
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obs = environment.getExtendedObservation()
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print("obs")
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print(obs)
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if __name__ == "__main__":
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main()
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