本文整理汇总了Python中pybullet_data.getDataPath函数的典型用法代码示例。如果您正苦于以下问题:Python getDataPath函数的具体用法?Python getDataPath怎么用?Python getDataPath使用的例子?那么恭喜您, 这里精选的函数代码示例或许可以为您提供帮助。
在下文中一共展示了getDataPath函数的15个代码示例,这些例子默认根据受欢迎程度排序。您可以为喜欢或者感觉有用的代码点赞,您的评价将有助于系统推荐出更棒的Python代码示例。
示例1: reset
def reset(self, bullet_client):
self._p = bullet_client
#print("Created bullet_client with id=", self._p._client)
if (self.doneLoading == 0):
self.ordered_joints = []
self.doneLoading = 1
if self.self_collision:
self.objects = self._p.loadMJCF(os.path.join(pybullet_data.getDataPath(), "mjcf",
self.model_xml),
flags=pybullet.URDF_USE_SELF_COLLISION |
pybullet.URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS)
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
self._p, self.objects)
else:
self.objects = self._p.loadMJCF(
os.path.join(pybullet_data.getDataPath(), "mjcf", self.model_xml))
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
self._p, self.objects)
self.robot_specific_reset(self._p)
s = self.calc_state(
) # optimization: calc_state() can calculate something in self.* for calc_potential() to use
return s
示例2: reset
def reset(self):
self.ordered_joints = []
print(os.path.join(os.path.dirname(__file__), "data", self.model_urdf))
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
basePosition=self.basePosition,
baseOrientation=self.baseOrientation,
useFixedBase=self.fixed_base,
flags=p.URDF_USE_SELF_COLLISION))
else:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadURDF(os.path.join(pybullet_data.getDataPath(), self.model_urdf),
basePosition=self.basePosition,
baseOrientation=self.baseOrientation,
useFixedBase=self.fixed_base))
self.robot_specific_reset()
s = self.calc_state() # optimization: calc_state() can calculate something in self.* for calc_potential() to use
self.potential = self.calc_potential()
return s
示例3: episode_restart
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
# 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(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
self.stadium = p.loadSDF(filename)
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])
示例4: reset
def reset(self):
self.ordered_joints = []
if self.self_collision:
self.parts, self.jdict, self.ordered_joints, self.robot_body = self.addToScene(
p.loadMJCF(os.path.join(pybullet_data.getDataPath(),"mjcf", self.model_xml), flags=p.URDF_USE_SELF_COLLISION+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(pybullet_data.getDataPath(),"mjcf", self.model_xml)))
self.robot_specific_reset()
s = self.calc_state() # optimization: calc_state() can calculate something in self.* for calc_potential() to use
return s
示例5: build_world
def build_world(args, enable_draw):
arg_parser = build_arg_parser(args)
print("enable_draw=", enable_draw)
env = PyBulletDeepMimicEnv(arg_parser, enable_draw)
world = RLWorld(env, arg_parser)
#world.env.set_playback_speed(playback_speed)
motion_file = arg_parser.parse_string("motion_file")
print("motion_file=", motion_file)
bodies = arg_parser.parse_ints("fall_contact_bodies")
print("bodies=", bodies)
int_output_path = arg_parser.parse_string("int_output_path")
print("int_output_path=", int_output_path)
agent_files = pybullet_data.getDataPath() + "/" + arg_parser.parse_string("agent_files")
AGENT_TYPE_KEY = "AgentType"
print("agent_file=", agent_files)
with open(agent_files) as data_file:
json_data = json.load(data_file)
print("json_data=", json_data)
assert AGENT_TYPE_KEY in json_data
agent_type = json_data[AGENT_TYPE_KEY]
print("agent_type=", agent_type)
agent = PPOAgent(world, id, json_data)
agent.set_enable_training(False)
world.reset()
return world
示例6: __init__
def __init__(self,
urdf_root=pybullet_data.getDataPath(),
self_collision_enabled=True,
pd_control_enabled=False,
leg_model_enabled=True,
on_rack=False,
render=False):
"""Initialize the minitaur and ball gym environment.
Args:
urdf_root: The path to the urdf data folder.
self_collision_enabled: Whether to enable self collision in the sim.
pd_control_enabled: Whether to use PD controller for each motor.
leg_model_enabled: Whether to use a leg motor to reparameterize the action
space.
on_rack: Whether to place the minitaur on rack. This is only used to debug
the walking gait. In this mode, the minitaur's base is hanged midair so
that its walking gait is clearer to visualize.
render: Whether to render the simulation.
"""
super(MinitaurBallGymEnv, self).__init__(
urdf_root=urdf_root,
self_collision_enabled=self_collision_enabled,
pd_control_enabled=pd_control_enabled,
leg_model_enabled=leg_model_enabled,
on_rack=on_rack,
render=render)
self._cam_dist = 2.0
self._cam_yaw = -70
self._cam_pitch = -30
self.action_space = spaces.Box(np.array([-1]), np.array([1]))
self.observation_space = spaces.Box(np.array([-math.pi, 0]),
np.array([math.pi, 100]))
示例7: __init__
def __init__(self,
urdfRoot=pybullet_data.getDataPath(),
actionRepeat=50,
isEnableSelfCollision=True,
renders=True):
print("init")
self._timeStep = 0.01
self._urdfRoot = urdfRoot
self._actionRepeat = actionRepeat
self._isEnableSelfCollision = isEnableSelfCollision
self._observation = []
self._envStepCounter = 0
self._renders = renders
self._p = p
if self._renders:
p.connect(p.GUI)
else:
p.connect(p.DIRECT)
self._seed()
self.reset()
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
self.action_space = spaces.Discrete(9)
self.observation_space = spaces.Box(-observation_high, observation_high)
self.viewer = None
示例8: __init__
def __init__(self,
urdf_root=pybullet_data.getDataPath(),
action_repeat=1,
observation_noise_stdev=minitaur_gym_env.SENSOR_NOISE_STDDEV,
self_collision_enabled=True,
motor_velocity_limit=np.inf,
pd_control_enabled=False,
render=False):
"""Initialize the minitaur standing up gym environment.
Args:
urdf_root: The path to the urdf data folder.
action_repeat: The number of simulation steps before actions are applied.
observation_noise_stdev: The standard deviation of observation noise.
self_collision_enabled: Whether to enable self collision in the sim.
motor_velocity_limit: The velocity limit of each motor.
pd_control_enabled: Whether to use PD controller for each motor.
render: Whether to render the simulation.
"""
super(MinitaurStandGymEnv, self).__init__(
urdf_root=urdf_root,
action_repeat=action_repeat,
observation_noise_stdev=observation_noise_stdev,
self_collision_enabled=self_collision_enabled,
motor_velocity_limit=motor_velocity_limit,
pd_control_enabled=pd_control_enabled,
accurate_motor_model_enabled=True,
motor_overheat_protection=True,
render=render)
# Set the action dimension to 1, and reset the action space.
action_dim = 1
action_high = np.array([self._action_bound] * action_dim)
self.action_space = spaces.Box(-action_high, action_high)
示例9: __init__
def __init__(self, urdfRootPath=pybullet_data.getDataPath(), timeStep=0.01):
self.urdfRootPath = urdfRootPath
self.timeStep = timeStep
self.maxVelocity = .35
self.maxForce = 200.
self.fingerAForce = 2
self.fingerBForce = 2.5
self.fingerTipForce = 2
self.useInverseKinematics = 1
self.useSimulation = 1
self.useNullSpace =21
self.useOrientation = 1
self.kukaEndEffectorIndex = 6
self.kukaGripperIndex = 7
#lower limits for null space
self.ll=[-.967,-2 ,-2.96,0.19,-2.96,-2.09,-3.05]
#upper limits for null space
self.ul=[.967,2 ,2.96,2.29,2.96,2.09,3.05]
#joint ranges for null space
self.jr=[5.8,4,5.8,4,5.8,4,6]
#restposes for null space
self.rp=[0,0,0,0.5*math.pi,0,-math.pi*0.5*0.66,0]
#joint damping coefficents
self.jd=[0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001,0.00001]
self.reset()
示例10: __init__
def __init__(self,
urdfRoot=pybullet_data.getDataPath(),
actionRepeat=1,
isEnableSelfCollision=True,
renders=True):
print("init")
self._timeStep = 1./240.
self._urdfRoot = urdfRoot
self._actionRepeat = actionRepeat
self._isEnableSelfCollision = isEnableSelfCollision
self._observation = []
self._envStepCounter = 0
self._renders = renders
self._width = 341
self._height = 256
self.terminated = 0
self._p = p
if self._renders:
cid = p.connect(p.SHARED_MEMORY)
if (cid<0):
p.connect(p.GUI)
p.resetDebugVisualizerCamera(1.3,180,-41,[0.52,-0.2,-0.33])
else:
p.connect(p.DIRECT)
#timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "kukaTimings.json")
self._seed()
self.reset()
observationDim = len(self.getExtendedObservation())
#print("observationDim")
#print(observationDim)
observation_high = np.array([np.finfo(np.float32).max] * observationDim)
self.action_space = spaces.Discrete(7)
self.observation_space = spaces.Box(low=0, high=255, shape=(self._height, self._width, 4))
self.viewer = None
示例11: get_cube
def get_cube(_p, x, y, z):
body = _p.loadURDF(os.path.join(pybullet_data.getDataPath(),"cube_small.urdf"), [x, y, z])
_p.changeDynamics(body,-1, mass=1.2)#match Roboschool
part_name, _ = _p.getBodyInfo(body)
part_name = part_name.decode("utf8")
bodies = [body]
return BodyPart(_p, part_name, bodies, 0, -1)
示例12: build_arg_parser
def build_arg_parser(args):
arg_parser = ArgParser()
arg_parser.load_args(args)
arg_file = arg_parser.parse_string('arg_file', '')
if (arg_file != ''):
path = pybullet_data.getDataPath() + "/args/" + arg_file
succ = arg_parser.load_file(path)
Logger.print2(arg_file)
assert succ, Logger.print2('Failed to load args from: ' + arg_file)
return arg_parser
示例13: test
def test(args):
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
fileName = os.path.join("mjcf", args.mjcf)
print("fileName")
print(fileName)
p.loadMJCF(fileName)
while (1):
p.stepSimulation()
p.getCameraImage(320,240)
time.sleep(0.01)
示例14: __init__
def __init__(self, pybullet_client, urdf_root=pybullet_data.getDataPath(), time_step=0.01):
"""Constructs an example simulation and reset it to the initial states.
Args:
pybullet_client: The instance of BulletClient to manage different
simulations.
urdf_root: The path to the urdf folder.
time_step: The time step of the simulation.
"""
self._pybullet_client = pybullet_client
self._urdf_root = urdf_root
self.m_actions_taken_since_reset = 0
self.time_step = time_step
self.stateId = -1
self.Reset(reload_urdf=True)
示例15: episode_restart
def episode_restart(self):
Scene.episode_restart(self) # contains cpp_world.clean_everything()
if (self.stadiumLoaded==0):
self.stadiumLoaded=1
# 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(pybullet_data.getDataPath(),"stadium_no_collision.sdf")
self.ground_plane_mjcf = p.loadSDF(filename)
for i in self.ground_plane_mjcf:
p.changeDynamics(i,-1,lateralFriction=0.8, restitution=0.5)
for j in range(p.getNumJoints(i)):
p.changeDynamics(i,j,lateralFriction=0)