more fixes in pybullet/resources, moved enjoy/train/test in 'examples' folder.

data/racecar/racecar.urdf

@@ -8,8 +8,19 @@
   <!-- geometry macros -->
   <!-- transmission macros -->
   <!-- Add chassis and it's inertia link -->
-  <link name="base_link"/>
+  <link name="base_link">
+   <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value=".1"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
+  </link>
   <link name="chassis">
+   <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value=".1"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
@@ -478,8 +489,5 @@
   <material name="red">
     <color rgba="0.8 0.0 0.0 1.0"/>
   </material>
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
 </robot>
 

examples/pybullet/gym/kukaJointSpaceGymEnvTest.py

@@ -1,23 +0,0 @@
-
-from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
-import time
-
-
-environment = KukaGymEnv(renders=True)
-environment._kuka.useInverseKinematics=0
-  
-motorsIds=[]
-for i in range (len(environment._kuka.motorNames)):
-  motor = environment._kuka.motorNames[i]
-  motorJointIndex = environment._kuka.motorIndices[i]
-  motorsIds.append(environment._p.addUserDebugParameter(motor,-3,3,environment._kuka.jointPositions[i]))
-
-while (True):
-    
-  action=[]
-  for motorId in motorsIds:
-    action.append(environment._p.readUserDebugParameter(motorId))
-  
-  state, reward, done, info = environment.step(action)
-  obs = environment.getExtendedObservation()
-  time.sleep(0.01)

examples/pybullet/gym/pybullet_envs/data/racecar/racecar.urdf

@@ -8,8 +8,19 @@
   <!-- geometry macros -->
   <!-- transmission macros -->
   <!-- Add chassis and it's inertia link -->
-  <link name="base_link"/>
+  <link name="base_link">
+   <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value=".1"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
+  </link>
   <link name="chassis">
+   <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <mass value=".1"/>
+      <inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
+    </inertial>
     <visual>
       <origin rpy="0 0 0" xyz="0 0 0"/>
       <geometry>
@@ -478,8 +489,5 @@
   <material name="red">
     <color rgba="0.8 0.0 0.0 1.0"/>
   </material>
-  <material name="white">
-    <color rgba="1.0 1.0 1.0 1.0"/>
-  </material>
 </robot>
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_AntBulletEnv_v0_2017may.py

@@ -1,3 +1,10 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os
+import 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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HalfCheetahBulletEnv_v0_2017may.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HopperBulletEnv_v0_2017may.py

@@ -1,3 +1,10 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+import os
+import 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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_HumanoidBulletEnv_v0_2017may.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedDoublePendulumBulletEnv_v0_2017may.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumBulletEnv_v0_2017may.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_InvertedPendulumSwingupBulletEnv_v0_2017may.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 import numpy as np
 import pybullet as p

examples/pybullet/gym/pybullet_envs/examples/enjoy_TF_Walker2DBulletEnv_v0_2017may.py

@@ -1,7 +1,13 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 import numpy as np
 import pybullet as p
-import envs
+import pybullet_envs
 import time
 
 def relu(x):

examples/pybullet/gym/pybullet_envs/examples/enjoy_kuka_grasping.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_cartpole.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 
 from baselines import deepq

examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_racecar.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
 

examples/pybullet/gym/pybullet_envs/examples/enjoy_pybullet_zed_racecar.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
 

examples/pybullet/gym/pybullet_envs/examples/kukaGymEnvTest.py

@@ -1,3 +1,8 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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)
 
 from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
 import time

examples/pybullet/gym/pybullet_envs/examples/racecarGymEnvTest.py

@@ -1,3 +1,8 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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)
 
 from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
 print ("hello")

examples/pybullet/gym/pybullet_envs/examples/racecarZEDGymEnvTest.py

@@ -1,3 +1,8 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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)
 
 from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv
 print ("hello")

examples/pybullet/gym/pybullet_envs/examples/simpleHumanoidGymEnvTest.py

@@ -1,3 +1,8 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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)
 
 from pybullet_envs.bullet.simpleHumanoidGymEnv import SimpleHumanoidGymEnv
 print ("hello")

examples/pybullet/gym/pybullet_envs/examples/train_kuka_cam_grasping.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.kukaCamGymEnv import KukaCamGymEnv
 

examples/pybullet/gym/pybullet_envs/examples/train_kuka_grasping.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.kukaGymEnv import KukaGymEnv
 

examples/pybullet/gym/pybullet_envs/examples/train_pybullet_cartpole.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.cartpole_bullet import CartPoleBulletEnv
 

examples/pybullet/gym/pybullet_envs/examples/train_pybullet_racecar.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.racecarGymEnv import RacecarGymEnv
 

examples/pybullet/gym/pybullet_envs/examples/train_pybullet_zed_racecar.py

@@ -1,3 +1,9 @@
+#add parent dir to find package. Only needed for source code build, pip install doesn't need it.
+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 gym
 from pybullet_envs.bullet.racecarZEDGymEnv import RacecarZEDGymEnv