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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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15
examples/pybullet/gym/pybullet_envs/scene_stadium.py
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@@ -1,7 +1,14 @@
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
from .scene_abstract import Scene
import pybullet as p
class StadiumScene(Scene):
zero_at_running_strip_start_line = True # if False, center of coordinates (0,0,0) will be at the middle of the stadium
stadium_halflen = 105*0.25 # FOOBALL_FIELD_HALFLEN
@@ -12,10 +19,12 @@ class StadiumScene(Scene):
# stadium_pose = cpp_household.Pose()
# if self.zero_at_running_strip_start_line:
# stadium_pose.set_xyz(27, 21, 0) # see RUN_STARTLINE, RUN_RAD constants
filename = os.path.join(os.path.dirname(__file__), "data", "stadium.sdf")
filename = os.path.join(pybullet_data.getDataPath(),"stadium.sdf")
print(filename)
self.stadium = p.loadSDF(filename)
self.ground_plane_mjcf = p.loadMJCF(os.path.join(os.path.dirname(__file__), "data","mjcf/ground_plane.xml"))
planeName = os.path.join(pybullet_data.getDataPath(),"mjcf/ground_plane.xml")
self.ground_plane_mjcf = p.loadMJCF(planeName)
for i in self.ground_plane_mjcf:
p.changeVisualShape(i,-1,rgbaColor=[0,0,0,0])