mirror of
https://github.com/bulletphysics/bullet3
synced 2025-01-07 08:10:08 +00:00
84 lines
3.5 KiB
Python
84 lines
3.5 KiB
Python
import os
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import numpy as np
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import copy
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import math
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class Racecar:
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def __init__(self, bullet_client, urdfRootPath='', timeStep=0.01):
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self.urdfRootPath = urdfRootPath
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self.timeStep = timeStep
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self._p = bullet_client
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self.reset()
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def reset(self):
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car = self._p.loadURDF(os.path.join(self.urdfRootPath,"racecar/racecar_differential.urdf"), [0,0,.2],useFixedBase=False)
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self.racecarUniqueId = car
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#for i in range (self._p.getNumJoints(car)):
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# print (self._p.getJointInfo(car,i))
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for wheel in range(self._p.getNumJoints(car)):
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self._p.setJointMotorControl2(car,wheel,self._p.VELOCITY_CONTROL,targetVelocity=0,force=0)
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self._p.getJointInfo(car,wheel)
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#self._p.setJointMotorControl2(car,10,self._p.VELOCITY_CONTROL,targetVelocity=1,force=10)
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c = self._p.createConstraint(car,9,car,11,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=1, maxForce=10000)
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c = self._p.createConstraint(car,10,car,13,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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c = self._p.createConstraint(car,9,car,13,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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c = self._p.createConstraint(car,16,car,18,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=1, maxForce=10000)
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c = self._p.createConstraint(car,16,car,19,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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c = self._p.createConstraint(car,17,car,19,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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c = self._p.createConstraint(car,1,car,18,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
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c = self._p.createConstraint(car,3,car,19,jointType=self._p.JOINT_GEAR,jointAxis =[0,1,0],parentFramePosition=[0,0,0],childFramePosition=[0,0,0])
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self._p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
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self.steeringLinks = [0,2]
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self.maxForce = 20
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self.nMotors = 2
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self.motorizedwheels=[8,15]
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self.speedMultiplier = 20.
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self.steeringMultiplier = 0.5
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def getActionDimension(self):
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return self.nMotors
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def getObservationDimension(self):
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return len(self.getObservation())
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def getObservation(self):
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observation = []
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pos,orn=self._p.getBasePositionAndOrientation(self.racecarUniqueId)
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observation.extend(list(pos))
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observation.extend(list(orn))
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return observation
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def applyAction(self, motorCommands):
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targetVelocity=motorCommands[0]*self.speedMultiplier
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#print("targetVelocity")
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#print(targetVelocity)
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steeringAngle = motorCommands[1]*self.steeringMultiplier
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#print("steeringAngle")
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#print(steeringAngle)
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#print("maxForce")
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#print(self.maxForce)
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for motor in self.motorizedwheels:
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self._p.setJointMotorControl2(self.racecarUniqueId,motor,self._p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)
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for steer in self.steeringLinks:
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self._p.setJointMotorControl2(self.racecarUniqueId,steer,self._p.POSITION_CONTROL,targetPosition=steeringAngle)
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