Tests to run the simulation with motors

CM3020 Artificial Intelligence/Week 8/Files/motor_test.py

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+import genome
+import creature
+import pybullet as p
+import time
+import random
+# ... usual starter code to create a sim and floor
+p.connect(p.GUI)
+p.setPhysicsEngineParameter(enableFileCaching=0)
+p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
+plane_shape = p.createCollisionShape(p.GEOM_PLANE)
+floor = p.createMultiBody(plane_shape, plane_shape)
+p.setGravity(0, 0, -10)
+p.setRealTimeSimulation(1)
+
+# generate a random creature
+cr = creature.Creature(gene_count=3)
+# save it to XML
+with open('test.urdf', 'w') as f:
+    f.write(cr.to_xml())
+# load it into the sim
+rob1 = p.loadURDF('test.urdf')
+# iterate
+while True:
+    motors = cr.get_motors()
+    assert len(motors) == p.getNumJoints(rob1), "Something went wrong"
+    for jid in range(p.getNumJoints(rob1)):
+        mode = p.VELOCITY_CONTROL
+        vel = 5 * (random.random() - 0.5)
+        p.setJointMotorControl2(rob1,
+                                jid,
+                                controlMode=mode,
+                                targetVelocity=vel)
+    time.sleep(0.5)