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pybullet a bit more refactoring, moving around files.

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pybullet: move data to pybullet_data package, with getDataPath() method
This commit is contained in:
Erwin Coumans
2017-08-27 18:08:46 -07:00
parent 97cb6df00c
commit 659e869b86
185 changed files with 149 additions and 68 deletions
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16
examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py
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@@ -1,4 +1,8 @@
import os
import os, inspect
currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
print ("current_dir=" + currentdir)
os.sys.path.insert(0,currentdir)
import math
import gym
from gym import spaces
@@ -8,6 +12,8 @@ import time
import pybullet as p
from . import kuka
import random
import pybullet_data
class KukaCamGymEnv(gym.Env):
metadata = {
@@ -16,7 +22,7 @@ class KukaCamGymEnv(gym.Env):
}
def __init__(self,
urdfRoot="",
urdfRoot=pybullet_data.getDataPath(),
actionRepeat=1,
isEnableSelfCollision=True,
renders=True):
@@ -55,15 +61,15 @@ class KukaCamGymEnv(gym.Env):
p.resetSimulation()
p.setPhysicsEngineParameter(numSolverIterations=150)
p.setTimeStep(self._timeStep)
p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"),[0,0,-1])
p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
p.loadURDF(os.path.join(self._urdfRoot,"table/table.urdf"), 0.5000000,0.00000,-.820000,0.000000,0.000000,0.0,1.0)
xpos = 0.5 +0.05*random.random()
ypos = 0 +0.05*random.random()
ang = 3.1415925438*random.random()
orn = p.getQuaternionFromEuler([0,0,ang])
self.blockUid =p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
self.blockUid =p.loadURDF(os.path.join(self._urdfRoot,"block.urdf"), xpos,ypos,-0.1,orn[0],orn[1],orn[2],orn[3])
p.setGravity(0,0,-10)
self._kuka = kuka.Kuka(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)