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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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10
examples/pybullet/gym/pybullet_envs/bullet/minitaur.py
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@@ -70,7 +70,7 @@ class Minitaur(object):
kd_for_pd_controllers: kd value for the pd controllers of the motors.
"""
self.num_motors = 8
self.num_legs = self.num_motors / 2
self.num_legs = int(self.num_motors / 2)
self._pybullet_client = pybullet_client
self._urdf_root = urdf_root
self._self_collision_enabled = self_collision_enabled
@@ -114,7 +114,7 @@ class Minitaur(object):
def _BuildJointNameToIdDict(self):
num_joints = self._pybullet_client.getNumJoints(self.quadruped)
self._joint_name_to_id = {}
for i in xrange(num_joints):
for i in range(num_joints):
joint_info = self._pybullet_client.getJointInfo(self.quadruped, i)
self._joint_name_to_id[joint_info[1].decode("UTF-8")] = joint_info[0]
@@ -184,7 +184,7 @@ class Minitaur(object):
Args:
add_constraint: Whether to add a constraint at the joints of two feet.
"""
for i in xrange(self.num_legs):
for i in range(self.num_legs):
self._ResetPoseForLeg(i, add_constraint)
def _ResetPoseForLeg(self, leg_id, add_constraint):
@@ -368,7 +368,7 @@ class Minitaur(object):
actual_torque, observed_torque = self._motor_model.convert_to_torque(
motor_commands, q, qdot)
if self._motor_overheat_protection:
for i in xrange(self.num_motors):
for i in range(self.num_motors):
if abs(actual_torque[i]) > OVERHEAT_SHUTDOWN_TORQUE:
self._overheat_counter[i] += 1
else:
@@ -469,7 +469,7 @@ class Minitaur(object):
offset_for_singularity = 1.5
half_num_motors = self.num_motors / 2
quater_pi = math.pi / 4
for i in xrange(self.num_motors):
for i in range(self.num_motors):
action_idx = i // 2
forward_backward_component = (-scale_for_singularity * quater_pi * (
actions[action_idx + half_num_motors] + offset_for_singularity))