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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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11
examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoid.py
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@@ -5,21 +5,26 @@ import copy
import math
import time
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 pybullet_data
class SimpleHumanoid:
def __init__(self, urdfRootPath='', timeStep=0.01):
def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self.reset()
def reset(self):
self.initial_z = None
objs = p.loadMJCF(os.path.join(os.path.dirname(__file__),"../data","mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
objs = p.loadMJCF(os.path.join(self.urdfRootPath,"mjcf/humanoid_symmetric_no_ground.xml"),flags = p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
self.human = objs[0]
self.jdict = {}
self.ordered_joints = []