31 lines
913 B
Python
31 lines
913 B
Python
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from envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
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print ("hello")
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environment = RacecarZEDGymEnv(renders=True)
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targetVelocitySlider = environment._p.addUserDebugParameter("wheelVelocity",-1,1,0)
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steeringSlider = environment._p.addUserDebugParameter("steering",-0.5,0.5,0)
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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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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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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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