pybullet a bit more refactoring, moving around files.

pybullet: move data to pybullet_data package, with getDataPath() method

examples/pybullet/gym/pybullet_envs/baselines/train_kuka_grasping.py

@@ -0,0 +1,46 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os, inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
+import gym
+from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
+
+from baselines import deepq
+
+import datetime
+
+
+
+def callback(lcl, glb):
+    # stop training if reward exceeds 199
+    total = sum(lcl['episode_rewards'][-101:-1]) / 100
+    totalt = lcl['t']
+    #print("totalt")
+    #print(totalt)
+    is_solved = totalt > 2000 and total >= 10
+    return is_solved
+
+
+def main():
+  	
+    env = KukaGymEnv(renders=False)
+    model = deepq.models.mlp([64])
+    act = deepq.learn(
+        env,
+        q_func=model,
+        lr=1e-3,
+        max_timesteps=10000000,
+        buffer_size=50000,
+        exploration_fraction=0.1,
+        exploration_final_eps=0.02,
+        print_freq=10,
+        callback=callback
+    )
+    print("Saving model to kuka_model.pkl")
+    act.save("kuka_model.pkl")
+
+
+if __name__ == '__main__':
+    main()