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import os
import numpy as np
import copy
import math
class Racecar:
def __init__(self, bullet_client, urdfRootPath='', timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self._p = bullet_client
self.reset()
def reset(self):
car = self._p.loadURDF(os.path.join(self.urdfRootPath,"racecar/racecar_differential.urdf"), [0,0,.2],useFixedBase=False)
self.racecarUniqueId = car
#for i in range (self._p.getNumJoints(car)):
# print (self._p.getJointInfo(car,i))
for wheel in range(self._p.getNumJoints(car)):
self._p.setJointMotorControl2(car,wheel,self._p.VELOCITY_CONTROL,targetVelocity=0,force=0)
self._p.getJointInfo(car,wheel)
#self._p.setJointMotorControl2(car,10,self._p.VELOCITY_CONTROL,targetVelocity=1,force=10)
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])
self._p.changeConstraint(c,gearRatio=1, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=1, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=-1, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15, maxForce=10000)
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])
self._p.changeConstraint(c,gearRatio=-1, gearAuxLink = 15,maxForce=10000)
self.steeringLinks = [0,2]
self.maxForce = 20
self.nMotors = 2
self.motorizedwheels=[8,15]
self.speedMultiplier = 20.
self.steeringMultiplier = 0.5
def getActionDimension(self):
return self.nMotors
def getObservationDimension(self):
return len(self.getObservation())
def getObservation(self):
observation = []
pos,orn=self._p.getBasePositionAndOrientation(self.racecarUniqueId)
observation.extend(list(pos))
observation.extend(list(orn))
return observation
def applyAction(self, motorCommands):
targetVelocity=motorCommands[0]*self.speedMultiplier
#print("targetVelocity")
#print(targetVelocity)
steeringAngle = motorCommands[1]*self.steeringMultiplier
#print("steeringAngle")
#print(steeringAngle)
#print("maxForce")
#print(self.maxForce)
for motor in self.motorizedwheels:
self._p.setJointMotorControl2(self.racecarUniqueId,motor,self._p.VELOCITY_CONTROL,targetVelocity=targetVelocity,force=self.maxForce)
for steer in self.steeringLinks:
self._p.setJointMotorControl2(self.racecarUniqueId,steer,self._p.POSITION_CONTROL,targetPosition=steeringAngle)