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more fixes in pybullet_envs: fix path, add missing data resources

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This commit is contained in:
Erwin Coumans
2017-08-22 08:59:39 -07:00
parent 21f9d1b816
commit e064d4b837
48 changed files with 28328 additions and 12 deletions
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7
examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py
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@@ -1,3 +1,4 @@
import os
import math
import gym
from gym import spaces
@@ -48,8 +49,8 @@ class RacecarGymEnv(gym.Env):
p.resetSimulation()
#p.setPhysicsEngineParameter(numSolverIterations=300)
p.setTimeStep(self._timeStep)
#p.loadURDF("%splane.urdf" % self._urdfRoot)
stadiumobjects = p.loadSDF("%sstadium.sdf" % self._urdfRoot)
#p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","plane.urdf"))
stadiumobjects = p.loadSDF(os.path.join(os.path.dirname(__file__),"../data","stadium.sdf"))
#move the stadium objects slightly above 0
for i in stadiumobjects:
pos,orn = p.getBasePositionAndOrientation(i)
@@ -63,7 +64,7 @@ class RacecarGymEnv(gym.Env):
bally = dist * math.cos(ang)
ballz = 1
self._ballUniqueId = p.loadURDF("sphere2.urdf",[ballx,bally,ballz])
self._ballUniqueId = p.loadURDF(os.path.join(os.path.dirname(__file__),"../data","sphere2.urdf"),[ballx,bally,ballz])
p.setGravity(0,0,-10)
self._racecar = racecar.Racecar(urdfRootPath=self._urdfRoot, timeStep=self._timeStep)
self._envStepCounter = 0