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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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14
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
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@@ -1,4 +1,9 @@
import os
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 math
import gym
from gym import spaces
@@ -9,6 +14,7 @@ import pybullet
from . import racecar
import random
from . import bullet_client
import pybullet_data
class RacecarGymEnv(gym.Env):
metadata = {
@@ -17,7 +23,7 @@ class RacecarGymEnv(gym.Env):
}
def __init__(self,
urdfRoot="",
urdfRoot=pybullet_data.getDataPath(),
actionRepeat=50,
isEnableSelfCollision=True,
isDiscrete=False,
@@ -59,8 +65,8 @@ class RacecarGymEnv(gym.Env):
self._p.resetSimulation()
#p.setPhysicsEngineParameter(numSolverIterations=300)
self._p.setTimeStep(self._timeStep)
#self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
stadiumobjects = self._p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
#self._p.loadURDF(os.path.join(self._urdfRoot,"plane.urdf"))
stadiumobjects = self._p.loadSDF(os.path.join(self._urdfRoot,"stadium.sdf"))
#move the stadium objects slightly above 0
#for i in stadiumobjects:
# pos,orn = self._p.getBasePositionAndOrientation(i)
@@ -74,7 +80,7 @@ class RacecarGymEnv(gym.Env):
bally = dist * math.cos(ang)
ballz = 1
self._ballUniqueId = self._p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2.urdf"),[ballx,bally,ballz])
self._ballUniqueId = self._p.loadURDF(os.path.join(self._urdfRoot,"sphere2.urdf"),[ballx,bally,ballz])
self._p.setGravity(0,0,-10)
self._racecar = racecar.Racecar(self._p,urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0