🐕 Adds way to simulate the model

simulation/GymEnvs/heightfield.py

@@ -13,6 +13,7 @@ https://github.com/bulletphysics/bullet3/blob/master/examples/pybullet/examples/
 
 import pybullet as p
 import pybullet_data as pd
+import random
 
 textureId = -1
 
@@ -24,7 +25,6 @@ updateHeightfield = False
 heightfieldSource = useProgrammatic
 numHeightfieldRows = 256
 numHeightfieldColumns = 256
-import random
 random.seed(10)
 
 

simulation/GymEnvs/spot_bezier_env.py

@@ -6,7 +6,7 @@ import time
 import numpy as np
 import pybullet_data
 from gym import spaces
-import spot
+import entities.spot as spot
 from gym.envs.registration import register
 
 from simulation.GymEnvs.spot_gym_env import spotGymEnv

simulation/GymEnvs/spot_gym_env.py

@@ -20,13 +20,12 @@ import pybullet_data
 from gym import spaces
 from gym.utils import seeding
 from pkg_resources import parse_version
-import spot
+import simulation.entities.spot as spot
 import pybullet_utils.bullet_client as bullet_client
 from gym.envs.registration import register
 from simulation.GymEnvs.heightfield import HeightField
 from OpenLoopSM.SpotOL import BezierStepper
 from raspberry_pi.src.Kinematics import LieAlgebra as LA
-from simulation.GymEnvs.spot_env_randomizer import SpotEnvRandomizer
 
 NUM_SUBSTEPS = 5
 NUM_MOTORS = 12