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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/robot_bases.py
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@@ -1,7 +1,11 @@
import pybullet as p
import gym, gym.spaces, gym.utils
import numpy as np
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 pybullet_data
class MJCFBasedRobot:
@@ -83,10 +87,10 @@ class MJCFBasedRobot:
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(os.path.dirname(__file__),"data/mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS))
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(os.path.dirname(__file__),"data/mjcf", self.model_xml)))
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml)))
self.robot_specific_reset()