63 lines
1.8 KiB
Python
63 lines
1.8 KiB
Python
import os, inspect
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currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
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print("current_dir=" + currentdir)
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parentdir = os.path.join(currentdir, "../gym")
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os.sys.path.insert(0, parentdir)
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import pybullet as p
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import pybullet_data
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import time
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cid = p.connect(p.SHARED_MEMORY)
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if (cid < 0):
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p.connect(p.GUI)
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p.resetSimulation()
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p.setGravity(0, 0, -10)
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useRealTimeSim = 1
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#for video recording (works best on Mac and Linux, not well on Windows)
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#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
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p.setRealTimeSimulation(useRealTimeSim) # either this
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#p.loadURDF("plane.urdf")
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p.loadSDF(os.path.join(pybullet_data.getDataPath(), "stadium.sdf"))
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car = p.loadURDF(os.path.join(pybullet_data.getDataPath(), "racecar/racecar.urdf"))
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for i in range(p.getNumJoints(car)):
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print(p.getJointInfo(car, i))
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inactive_wheels = [3, 5, 7]
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wheels = [2]
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for wheel in inactive_wheels:
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p.setJointMotorControl2(car, wheel, p.VELOCITY_CONTROL, targetVelocity=0, force=0)
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steering = [4, 6]
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targetVelocitySlider = p.addUserDebugParameter("wheelVelocity", -10, 10, 0)
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maxForceSlider = p.addUserDebugParameter("maxForce", 0, 10, 10)
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steeringSlider = p.addUserDebugParameter("steering", -0.5, 0.5, 0)
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while (True):
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maxForce = p.readUserDebugParameter(maxForceSlider)
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targetVelocity = p.readUserDebugParameter(targetVelocitySlider)
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steeringAngle = p.readUserDebugParameter(steeringSlider)
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#print(targetVelocity)
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for wheel in wheels:
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p.setJointMotorControl2(car,
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wheel,
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p.VELOCITY_CONTROL,
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targetVelocity=targetVelocity,
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force=maxForce)
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for steer in steering:
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p.setJointMotorControl2(car, steer, p.POSITION_CONTROL, targetPosition=steeringAngle)
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steering
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if (useRealTimeSim == 0):
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p.stepSimulation()
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time.sleep(0.01)
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