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more fixes in pybullet_gym envs/data.

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implement pybullet.setAdditionalSearchPath
This commit is contained in:
Erwin Coumans
2017-08-27 19:34:00 -07:00
parent d9faea8c1c
commit 1569f3845c
18 changed files with 151 additions and 197 deletions
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13
examples/pybullet/examples/racecar.py
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@@ -1,4 +1,13 @@
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
print ("current_dir=" + currentdir)
parentdir = os.path.join(currentdir,"../gym")
os.sys.path.insert(0,parentdir)
import pybullet as p
import pybullet_data
import time
cid = p.connect(p.SHARED_MEMORY)
@@ -14,9 +23,9 @@ useRealTimeSim = 1
#p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
p.setRealTimeSimulation(useRealTimeSim) # either this
#p.loadURDF("plane.urdf")
p.loadSDF("stadium.sdf")
p.loadSDF(os.path.join(pybullet_data.getDataPath(),"stadium.sdf"))
car = p.loadURDF("racecar/racecar.urdf")
car = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"racecar/racecar.urdf"))
for i in range (p.getNumJoints(car)):
print (p.getJointInfo(car,i))

17
examples/pybullet/examples/test.py
View File

@@ -1,16 +1,27 @@
#os.sys.path.insert is only needed when pybullet is not installed
#but running from github repo instead
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
print ("current_dir=" + currentdir)
parentdir = os.path.join(currentdir,"../gym")
os.sys.path.insert(0,parentdir)
import pybullet
import pybullet_data
import time
#choose connection method: GUI, DIRECT, SHARED_MEMORY
pybullet.connect(pybullet.GUI)
pybullet.loadURDF("plane.urdf",0,0,-1)
pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"plane.urdf"),0,0,-1)
#load URDF, given a relative or absolute file+path
obj = pybullet.loadURDF("r2d2.urdf")
obj = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"r2d2.urdf"))
posX=0
posY=3
posZ=2
obj2 = pybullet.loadURDF("kuka_lwr/kuka.urdf",posX,posY,posZ)
obj2 = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"kuka_iiwa/model.urdf"),posX,posY,posZ)
#query the number of joints of the object
numJoints = pybullet.getNumJoints(obj)