Changed package asset imports to use plg_resources library

utiasDSL · Jun 9, 2022 · efb1def · efb1def
1 parent f747c9a
commit efb1def
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Showing 6 changed files with 13 additions and 6 deletions.
diff --git a/build_project.sh b/build_project.sh
@@ -4,4 +4,5 @@ poetry build
 pip install dist/gym_pybullet_drones-1.0.0-py3-none-any.whl
 cd tests
 python test_build.py
+rm -rf results
 cd ..
diff --git a/gym_pybullet_drones/control/BaseControl.py b/gym_pybullet_drones/control/BaseControl.py
@@ -1,6 +1,7 @@
 import os
 import numpy as np
 import xml.etree.ElementTree as etxml
+import pkg_resources
 
 from gym_pybullet_drones.utils.enums import DroneModel
 
@@ -198,7 +199,8 @@ def _getURDFParameter(self,
         """
         #### Get the XML tree of the drone model to control ########
         URDF = self.DRONE_MODEL.value + ".urdf"
-        URDF_TREE = etxml.parse(os.path.dirname(os.path.abspath(__file__))+"/../assets/"+URDF).getroot()
+        path = pkg_resources.resource_filename('gym_pybullet_drones', 'assets/'+URDF)
+        URDF_TREE = etxml.parse(path).getroot()
         #### Find and return the desired parameter #################
         if parameter_name == 'm':
             return float(URDF_TREE[1][0][1].attrib['value'])

diff --git a/gym_pybullet_drones/envs/BaseAviary.py b/gym_pybullet_drones/envs/BaseAviary.py
@@ -4,6 +4,7 @@
 import collections
 from datetime import datetime
 import xml.etree.ElementTree as etxml
+import pkg_resources
 from PIL import Image
 # import pkgutil
 # egl = pkgutil.get_loader('eglRenderer')
@@ -453,7 +454,8 @@ def _housekeeping(self):
         p.setAdditionalSearchPath(pybullet_data.getDataPath(), physicsClientId=self.CLIENT)
         #### Load ground plane, drone and obstacles models #########
         self.PLANE_ID = p.loadURDF("plane.urdf", physicsClientId=self.CLIENT)
-        self.DRONE_IDS = np.array([p.loadURDF(os.path.dirname(os.path.abspath(__file__))+"/../assets/"+self.URDF,
+
+        self.DRONE_IDS = np.array([p.loadURDF(pkg_resources.resource_filename('gym_pybullet_drones', 'assets/'+self.URDF),
                                               self.INIT_XYZS[i,:],
                                               p.getQuaternionFromEuler(self.INIT_RPYS[i,:]),
                                               flags = p.URDF_USE_INERTIA_FROM_FILE,
@@ -962,7 +964,7 @@ def _parseURDFParameters(self):
         files in folder `assets/`.
 
         """
-        URDF_TREE = etxml.parse(os.path.dirname(os.path.abspath(__file__))+"/../assets/"+self.URDF).getroot()
+        URDF_TREE = etxml.parse(pkg_resources.resource_filename('gym_pybullet_drones', 'assets/'+self.URDF)).getroot()
         M = float(URDF_TREE[1][0][1].attrib['value'])
         L = float(URDF_TREE[0].attrib['arm'])
         THRUST2WEIGHT_RATIO = float(URDF_TREE[0].attrib['thrust2weight'])

diff --git a/gym_pybullet_drones/envs/single_agent_rl/FlyThruGateAviary.py b/gym_pybullet_drones/envs/single_agent_rl/FlyThruGateAviary.py
@@ -1,6 +1,7 @@
 import os
 import numpy as np
 import pybullet as p
+import pkg_resources
 
 from gym_pybullet_drones.utils.enums import DroneModel, Physics
 from gym_pybullet_drones.envs.single_agent_rl.BaseSingleAgentAviary import ActionType, ObservationType, BaseSingleAgentAviary
@@ -72,7 +73,7 @@ def _addObstacles(self):
 
         """
         super()._addObstacles()
-        p.loadURDF(os.path.dirname(os.path.abspath(__file__))+"/../../assets/architrave.urdf",
+        p.loadURDF(pkg_resources.resource_filename('gym_pybullet_drones', 'assets/architrave.urdf'),
                    [0, -1, .55],
                    p.getQuaternionFromEuler([0, 0, 0]),
                    physicsClientId=self.CLIENT

diff --git a/gym_pybullet_drones/examples/compare.py b/gym_pybullet_drones/examples/compare.py
@@ -19,6 +19,7 @@
 import argparse
 import pickle
 import numpy as np
+import pkg_resources
 
 from gym_pybullet_drones.utils.utils import sync, str2bool
 from gym_pybullet_drones.utils.enums import DroneModel, Physics
@@ -29,7 +30,7 @@
 DEFAULT_PHYICS = Physics('pyb')
 DEFAULT_GUI = False
 DEFAULT_RECORD_VIDEO = False
-DEFAULT_TRACE_FILE = os.path.dirname(os.path.abspath(__file__))+"/../assets/example_trace.pkl"
+DEFAULT_TRACE_FILE = pkg_resources.resource_filename('gym_pybullet_drones', 'assets/example_trace.pkl')
 DEFAULT_OUTPUT_FOLDER = 'results'
 
 def run(

diff --git a/setup.py b/setup.py
@@ -18,7 +18,7 @@
         'stable_baselines3',
         'ray[rllib]'
         ],
-    packages=setuptools.find_packages(where="gym_pybullet_drones")
+    packages=setuptools.find_packages(where="gym_pybullet_drones"),
     package_dir={'':'gym_pybullet_drones'},
     package_data={'gym_pybullet_drones': ['assets/*.*']},
     long_description=long_description,