Merge remote-tracking branch 'bp/master'

CMakeLists.txt

@@ -24,6 +24,7 @@ SET(CMAKE_CXX_FLAGS_DEBUG "${CMAKE_CXX_FLAGS_DEBUG} -D_DEBUG")
 #MESSAGE("CMAKE_CXX_FLAGS_DEBUG="+${CMAKE_CXX_FLAGS_DEBUG})
 
 OPTION(USE_DOUBLE_PRECISION "Use double precision"	OFF)
+SET(CLAMP_VELOCITIES "0" CACHE STRING "Clamp rigid bodies' velocity to this value, if larger than zero. Useful to prevent floating point errors or in general runaway velocities in complex scenarios")
 OPTION(USE_GRAPHICAL_BENCHMARK "Use Graphical Benchmark" ON)
 OPTION(BUILD_SHARED_LIBS "Use shared libraries" OFF)
 OPTION(USE_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD "Use btSoftMultiBodyDynamicsWorld" ON)
@@ -211,6 +212,10 @@ IF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ADD_DEFINITIONS( -DBT_INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 ENDIF (INTERNAL_UPDATE_SERIALIZATION_STRUCTURES)
 
+IF (CLAMP_VELOCITIES)
+ADD_DEFINITIONS( -DBT_CLAMP_VELOCITY_TO=${CLAMP_VELOCITIES})
+ENDIF (CLAMP_VELOCITIES)
+
 IF (USE_DOUBLE_PRECISION)
 ADD_DEFINITIONS( -DBT_USE_DOUBLE_PRECISION)
 SET( BULLET_DOUBLE_DEF "-DBT_USE_DOUBLE_PRECISION")

build3/premake4.lua

@@ -337,6 +337,12 @@ end
 		trigger = "double",
 		description = "Double precision version of Bullet"
 	}
+
+	newoption
+	{
+		trigger = "clamp-velocities",
+		description = "Limit maximum velocities to reduce FP exception risk"
+	}
 	
 	newoption
 	{
@@ -360,6 +366,9 @@ end
 	if _OPTIONS["double"] then
 		defines {"BT_USE_DOUBLE_PRECISION"}
 	end
+	if _OPTIONS["clamp-velocities"] then
+		defines {"BT_CLAMP_VELOCITY_TO=9999"}
+	end
 
 	configurations {"Release", "Debug"}
 	configuration "Release"

data/torus_deform.urdf

@@ -6,6 +6,7 @@
       <inertia ixx="0.0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
     </inertial>
     <collision_margin value="0.006"/>
+    <repulsion_stiffness value="50.0"/>
     <friction value= "0.5"/>
     <neohookean mu= "60" lambda= "200" damping= "0.01" />
     <visual filename="torus.vtk"/>

examples/DeformableDemo/GraspDeformable.cpp

@@ -73,10 +73,10 @@ public:
 
 	void resetCamera()
 	{
-        float dist = 2;
+        float dist = 0.3;
         float pitch = -45;
         float yaw = 100;
-        float targetPos[3] = {0, -0, 0};
+        float targetPos[3] = {0, -0.1, 0};
 		m_guiHelper->resetCamera(dist, yaw, pitch, targetPos[0], targetPos[1], targetPos[2]);
 	}
     
@@ -105,12 +105,12 @@ public:
                         if (dofIndex == 6)
                         {
                             motor->setVelocityTarget(-fingerTargetVelocities[1], 1);
-                            motor->setMaxAppliedImpulse(2);
+                            motor->setMaxAppliedImpulse(20);
                         }
                         if (dofIndex == 7)
                         {
                             motor->setVelocityTarget(fingerTargetVelocities[1], 1);
-                            motor->setMaxAppliedImpulse(2);
+                            motor->setMaxAppliedImpulse(20);
                         }
                         motor->setMaxAppliedImpulse(1);
                     }
@@ -208,9 +208,9 @@ void GraspDeformable::initPhysics()
         bool canSleep = false;
         bool selfCollide = true;
         int numLinks = 2;
-        btVector3 linkHalfExtents(.1, .2, .04);
-        btVector3 baseHalfExtents(.1, 0.02, .2);
-        btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, .7f,0.f), linkHalfExtents, baseHalfExtents, false);
+        btVector3 linkHalfExtents(0.02, 0.018, .003);
+        btVector3 baseHalfExtents(0.02, 0.002, .002);
+        btMultiBody* mbC = createFeatherstoneMultiBody(getDeformableDynamicsWorld(), btVector3(0.f, 0.05f,0.f), linkHalfExtents, baseHalfExtents, false);
         
         mbC->setCanSleep(canSleep);
         mbC->setHasSelfCollision(selfCollide);
@@ -258,7 +258,7 @@ void GraspDeformable::initPhysics()
 
         btTransform groundTransform;
         groundTransform.setIdentity();
-        groundTransform.setOrigin(btVector3(0, -5.3, 0));
+        groundTransform.setOrigin(btVector3(0, -5.1, 0));
         groundTransform.setRotation(btQuaternion(btVector3(1, 0, 0), SIMD_PI * 0));
         //We can also use DemoApplication::localCreateRigidBody, but for clarity it is provided here:
         btScalar mass(0.);
@@ -309,7 +309,7 @@ void GraspDeformable::initPhysics()
 //        psb->scale(btVector3(.3, .3, .3));  // for tube, torus, boot
 //        psb->scale(btVector3(.1, .1, .1));  // for ditto
 //        psb->translate(btVector3(.25, 10, 0.4));
-        psb->getCollisionShape()->setMargin(0.0005);
+        psb->getCollisionShape()->setMargin(0.01);
         psb->setMaxStress(50);
         psb->setTotalMass(.1);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
@@ -334,8 +334,8 @@ void GraspDeformable::initPhysics()
     if(1)
     {
         bool onGround = false;
-        const btScalar s = .5;
-        const btScalar h = .1;
+        const btScalar s = .05;
+        const btScalar h = -0.02;
         btSoftBody* psb = btSoftBodyHelpers::CreatePatch(getDeformableDynamicsWorld()->getWorldInfo(), btVector3(-s, h, -s),
                                                          btVector3(+s, h, -s),
                                                          btVector3(-s, h, +s),
@@ -352,37 +352,35 @@ void GraspDeformable::initPhysics()
                                                  2,2,
                                                  0, true);
 
-        psb->getCollisionShape()->setMargin(0.01);
+        psb->getCollisionShape()->setMargin(0.003);
         psb->generateBendingConstraints(2);
-        psb->setTotalMass(1);
+        psb->setTotalMass(0.005);
         psb->setSpringStiffness(10);
         psb->setDampingCoefficient(0.05);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
-        psb->m_cfg.kDF = 2;
+        psb->m_cfg.kDF = 1;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
         psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_MDF;
-//        psb->m_cfg.collisions |= btSoftBody::fCollision::VF_DD;
         getDeformableDynamicsWorld()->addSoftBody(psb);
-//        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(.0,0.0, true));
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(10,1, true));
-        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableMassSpringForce(0.05,0.005, true));
+        getDeformableDynamicsWorld()->addForce(psb, new btDeformableGravityForce(gravity*0.1));
     }
     
 	m_guiHelper->autogenerateGraphicsObjects(m_dynamicsWorld);
     
     {
         SliderParams slider("Moving velocity", &sGripperVerticalVelocity);
-        slider.m_minVal = -.2;
-        slider.m_maxVal = .2;
+        slider.m_minVal = -.02;
+        slider.m_maxVal = .02;
         m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
     }
     
     {
         SliderParams slider("Closing velocity", &sGripperClosingTargetVelocity);
-        slider.m_minVal = -.5;
-        slider.m_maxVal = .5;
+        slider.m_minVal = -1;
+        slider.m_maxVal = 1;
         m_guiHelper->getParameterInterface()->registerSliderFloatParameter(slider);
     }
     
@@ -436,8 +434,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
 {
     //init the base
     btVector3 baseInertiaDiag(0.f, 0.f, 0.f);
-    float baseMass = 100.f;
-    float linkMass = 100.f;
+    float baseMass = 0.1;
+    float linkMass = 0.1;
     int numLinks = 2;
     
     if (baseMass)
@@ -465,8 +463,8 @@ btMultiBody* GraspDeformable::createFeatherstoneMultiBody(btMultiBodyDynamicsWor
     
     //y-axis assumed up
     btAlignedObjectArray<btVector3> parentComToCurrentCom;
-    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 4.f));
-    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 4.f));//par body's COM to cur body's COM offset
+    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, -baseHalfExtents[2] * 2.f));
+    parentComToCurrentCom.push_back(btVector3(0, -linkHalfExtents[1] * 8.f, +baseHalfExtents[2] * 2.f));//par body's COM to cur body's COM offset
     
     btVector3 currentPivotToCurrentCom(0, -linkHalfExtents[1]*8.f, 0);                         //cur body's COM to cur body's PIV offset
     
@@ -507,6 +505,7 @@ void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsW
         if (1)
         {
             btCollisionShape* box = new btBoxShape(baseHalfExtents);
+            box->setMargin(0.001);
             btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, -1);
             col->setCollisionShape(box);
             
@@ -537,6 +536,7 @@ void GraspDeformable::addColliders(btMultiBody* pMultiBody, btMultiBodyDynamicsW
         btScalar quat[4] = {-world_to_local[i + 1].x(), -world_to_local[i + 1].y(), -world_to_local[i + 1].z(), world_to_local[i + 1].w()};
         
         btCollisionShape* box = new btBoxShape(linkHalfExtents);
+        box->setMargin(0.001);
         btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(pMultiBody, i);
         
         col->setCollisionShape(box);

examples/DeformableDemo/Pinch.cpp

@@ -300,21 +300,21 @@ void Pinch::initPhysics()
         psb->setTotalMass(1);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
-        psb->m_cfg.kDF = 2;
+        psb->m_cfg.kDF = .5;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
         getDeformableDynamicsWorld()->addSoftBody(psb);
         btSoftBodyHelpers::generateBoundaryFaces(psb);
         
-        btDeformableMassSpringForce* mass_spring = new btDeformableMassSpringForce(1,0.05);
-        getDeformableDynamicsWorld()->addForce(psb, mass_spring);
-        m_forces.push_back(mass_spring);
-        
         btDeformableGravityForce* gravity_force =  new btDeformableGravityForce(gravity);
         getDeformableDynamicsWorld()->addForce(psb, gravity_force);
         m_forces.push_back(gravity_force);
         
-        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(.2,1);
+        btDeformableNeoHookeanForce* neohookean = new btDeformableNeoHookeanForce(8,3, 0.02);
+        neohookean->setPoissonRatio(0.3);
+        neohookean->setYoungsModulus(25);
+        neohookean->setDamping(0.01);
+        psb->m_cfg.drag = 0.001;
         getDeformableDynamicsWorld()->addForce(psb, neohookean);
         m_forces.push_back(neohookean);
         // add a grippers

examples/DeformableDemo/SplitImpulse.cpp

@@ -165,7 +165,7 @@ void SplitImpulse::initPhysics()
         psb->setTotalMass(1);
         psb->m_cfg.kKHR = 1; // collision hardness with kinematic objects
         psb->m_cfg.kCHR = 1; // collision hardness with rigid body
-        psb->m_cfg.kDF = 0.1;
+        psb->m_cfg.kDF = 1;
         psb->m_cfg.collisions = btSoftBody::fCollision::SDF_RD;
         psb->m_cfg.collisions |= btSoftBody::fCollision::SDF_RDF;
         getDeformableDynamicsWorld()->addSoftBody(psb);

examples/Importers/ImportURDFDemo/UrdfParser.cpp

@@ -1163,6 +1163,17 @@ bool UrdfParser::parseDeformable(UrdfModel& model, tinyxml2::XMLElement* config,
 		}
 		deformable.m_friction = urdfLexicalCast<double>(friction_xml->Attribute("value"));
 	}
+	
+	XMLElement* repulsion_xml = config->FirstChildElement("repulsion_stiffness");
+	if (repulsion_xml)
+	{
+		if (!repulsion_xml->Attribute("value"))
+		{
+			logger->reportError("repulsion_stiffness element must have value attribute");
+			return false;
+		}
+		deformable.m_repulsionStiffness = urdfLexicalCast<double>(repulsion_xml->Attribute("value"));
+	}
 
 	XMLElement* spring_xml = config->FirstChildElement("spring");
 	if (spring_xml)

examples/Importers/ImportURDFDemo/UrdfParser.h

@@ -225,6 +225,7 @@ struct UrdfDeformable
 	double m_mass;
 	double m_collisionMargin;
 	double m_friction;
+	double m_repulsionStiffness;
 
 	SpringCoeffcients m_springCoefficients;
 	LameCoefficients m_corotatedCoefficients;
@@ -234,7 +235,7 @@ struct UrdfDeformable
 	std::string m_simFileName;
 	btHashMap<btHashString, std::string> m_userData;
 
-	UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_visualFileName(""), m_simFileName("")
+	UrdfDeformable() : m_mass(1.), m_collisionMargin(0.02), m_friction(1.), m_repulsionStiffness(0.5), m_visualFileName(""), m_simFileName("")
 	{
 	}
 };

examples/SharedMemory/PhysicsClientC_API.cpp

@@ -404,6 +404,15 @@ B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle
 	return 0;
 }
 
+B3_SHARED_API int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandle commandHandle, double stiffness)
+{
+	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;
+	b3Assert(command->m_type == CMD_LOAD_SOFT_BODY);
+	command->m_loadSoftBodyArguments.m_repulsionStiffness = stiffness;
+	command->m_updateFlags |= LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS;
+	return 0;
+}
+
 B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision)
 {
 	struct SharedMemoryCommand* command = (struct SharedMemoryCommand*)commandHandle;

examples/SharedMemory/PhysicsClientC_API.h

@@ -648,7 +648,8 @@ extern "C"
 	B3_SHARED_API int b3LoadSoftBodyAddGravityForce(b3SharedMemoryCommandHandle commandHandle, double gravityX, double gravityY, double gravityZ);
 	B3_SHARED_API int b3LoadSoftBodySetCollisionHardness(b3SharedMemoryCommandHandle commandHandle, double collisionHardness);
 	B3_SHARED_API int b3LoadSoftBodySetSelfCollision(b3SharedMemoryCommandHandle commandHandle, int useSelfCollision);
-    B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
+	B3_SHARED_API int b3LoadSoftBodySetRepulsionStiffness(b3SharedMemoryCommandHandle commandHandle, double stiffness);
+	B3_SHARED_API int b3LoadSoftBodyUseFaceContact(b3SharedMemoryCommandHandle commandHandle, int useFaceContact);
 	B3_SHARED_API int b3LoadSoftBodySetFrictionCoefficient(b3SharedMemoryCommandHandle commandHandle, double frictionCoefficient);
 	B3_SHARED_API int b3LoadSoftBodyUseBendingSprings(b3SharedMemoryCommandHandle commandHandle, int useBendingSprings, double bendingStiffness);
 	

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -8312,6 +8312,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
 	{
 		deformable.m_friction = loadSoftBodyArgs.m_frictionCoeff;
 	}
+	if (clientCmd.m_updateFlags & LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS)
+	{
+		deformable.m_repulsionStiffness = loadSoftBodyArgs.m_repulsionStiffness;
+	}
 
 #endif
 }
@@ -8531,6 +8535,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			psb->setCollisionFlags(0);
 			psb->setTotalMass(deformable.m_mass);
 			psb->setSelfCollision(useSelfCollision);
+			psb->setSpringStiffness(deformable.m_repulsionStiffness);
 			psb->initializeFaceTree();
 		}
 #endif  //SKIP_DEFORMABLE_BODY
@@ -12469,7 +12474,7 @@ bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(cons
 				{
 					//extract shape info from base collider
 					int numConvertedCollisionShapes = extractCollisionShapes(bodyHandle->m_multiBody->getBaseCollider()->getCollisionShape(), childTrans, collisionShapeStoragePtr, maxNumColObjects);
-					serverCmd.m_numDataStreamBytes = numConvertedCollisionShapes*sizeof(b3CollisionShapeData);
+					serverCmd.m_numDataStreamBytes = numConvertedCollisionShapes * sizeof(b3CollisionShapeData);
 					serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
 					serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
 				}
@@ -12704,6 +12709,17 @@ bool PhysicsServerCommandProcessor::processUpdateVisualShapeCommand(const struct
 						m_data->m_guiHelper->changeSpecularColor(graphicsIndex, clientCmd.m_updateVisualShapeDataArguments.m_specularColor);
 					}
 				}
+				else if (bodyHandle->m_softBody)
+				{
+					if (clientCmd.m_updateFlags & CMD_UPDATE_VISUAL_SHAPE_RGBA_COLOR)
+					{
+						if (m_data->m_pluginManager.getRenderInterface())
+						{
+							m_data->m_pluginManager.getRenderInterface()->changeRGBAColor(bodyUniqueId, linkIndex,
+																						  clientCmd.m_updateVisualShapeDataArguments.m_shapeIndex, clientCmd.m_updateVisualShapeDataArguments.m_rgbaColor);
+						}
+					}
+				}
 			}
 		}
 	}

examples/SharedMemory/SharedMemoryCommands.h

@@ -497,17 +497,18 @@ enum EnumLoadSoftBodyUpdateFlags
 	LOAD_SOFT_BODY_UPDATE_MASS = 1<<2,
 	LOAD_SOFT_BODY_UPDATE_COLLISION_MARGIN = 1<<3,
 	LOAD_SOFT_BODY_INITIAL_POSITION = 1<<4,
-        LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
-        LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
-        LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
-        LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
-        LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
-        LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
-        LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
-        LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
-        LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
-    LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
-    LOAD_SOFT_BODY_SIM_MESH = 1<<15,
+	LOAD_SOFT_BODY_INITIAL_ORIENTATION = 1<<5,
+	LOAD_SOFT_BODY_ADD_COROTATED_FORCE = 1<<6,
+	LOAD_SOFT_BODY_ADD_MASS_SPRING_FORCE = 1<<7,
+	LOAD_SOFT_BODY_ADD_GRAVITY_FORCE = 1<<8,
+	LOAD_SOFT_BODY_SET_COLLISION_HARDNESS = 1<<9,
+	LOAD_SOFT_BODY_SET_FRICTION_COEFFICIENT = 1<<10,
+	LOAD_SOFT_BODY_ADD_BENDING_SPRINGS = 1<<11,
+	LOAD_SOFT_BODY_ADD_NEOHOOKEAN_FORCE = 1<<12,
+	LOAD_SOFT_BODY_USE_SELF_COLLISION = 1<<13,
+	LOAD_SOFT_BODY_USE_FACE_CONTACT = 1<<14,
+	LOAD_SOFT_BODY_SIM_MESH = 1<<15,
+	LOAD_SOFT_BODY_SET_REPULSION_STIFFNESS = 1<<16,
 };
 
 enum EnumSimParamInternalSimFlags
@@ -540,6 +541,7 @@ struct LoadSoftBodyArgs
     double m_NeoHookeanDamping;
     int m_useFaceContact;
     char m_simFileName[MAX_FILENAME_LENGTH];
+	double m_repulsionStiffness;
 };
 
 struct b3LoadSoftBodyResultArgs

examples/pybullet/examples/biped2d_pybullet.py

@@ -5,7 +5,9 @@ import time
 GRAVITY = -9.8
 dt = 1e-3
 iters = 2000
+import pybullet_data
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 physicsClient = p.connect(p.GUI)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.resetSimulation()

examples/pybullet/examples/changeDynamicsMass.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 cube2 = p.loadURDF("cube.urdf", [0, 0, 3], useFixedBase=True)
 cube = p.loadURDF("cube.urdf", useFixedBase=True)
 p.setGravity(0, 0, -10)

examples/pybullet/examples/changeTexture.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 planeUidA = p.loadURDF("plane_transparent.urdf", [0, 0, 0])
 planeUid = p.loadURDF("plane_transparent.urdf", [0, 0, -1])
 

examples/pybullet/examples/collisionFilter.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 planeId = p.loadURDF("plane.urdf", useMaximalCoordinates=False)
 cubeId = p.loadURDF("cube_collisionfilter.urdf", [0, 0, 3], useMaximalCoordinates=False)
 

examples/pybullet/examples/commandLogAndPlayback.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 logId = p.startStateLogging(p.STATE_LOGGING_ALL_COMMANDS, "commandLog.bin")
 p.loadURDF("plane.urdf")
 p.loadURDF("r2d2.urdf", [0, 0, 1])

examples/pybullet/examples/configureDebugVisualizer.py

@@ -2,8 +2,10 @@ import pybullet as p
 import math
 import time
 dt = 1./240.
+import pybullet_data
 
-p.connect(p.GUI)#SHARED_MEMORY_GUI)
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("r2d2.urdf",[0,0,1])
 p.loadURDF("plane.urdf")
 p.setGravity(0,0,-10)
@@ -18,4 +20,4 @@ while (1):
   p.configureDebugVisualizer(lightPosition=[radius*math.sin(t),radius*math.cos(t),3])
   
   p.stepSimulation()
-  time.sleep(dt)
+  time.sleep(dt)

examples/pybullet/examples/constraint.py

@@ -2,7 +2,9 @@ import pybullet as p
 import time
 import math
 
+import pybullet_data
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 p.loadURDF("plane.urdf")
 cubeId = p.loadURDF("cube_small.urdf", 0, 0, 1)

examples/pybullet/examples/contactFriction.py

@@ -1,5 +1,8 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 useMaximalCoordinates = False
 p.loadURDF("plane.urdf", useMaximalCoordinates=useMaximalCoordinates)
 #p.loadURDF("sphere2.urdf",[0,0,1])

examples/pybullet/examples/createMesh.py

@@ -1,8 +1,10 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 #don't create a ground plane, to allow for gaps etc
 p.resetSimulation()
 #p.createCollisionShape(p.GEOM_PLANE)

examples/pybullet/examples/createMultiBodyBatch.py

@@ -1,10 +1,11 @@
 import pybullet as p
 import time
 import math
-
+import pybullet_data
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI, options="--minGraphicsUpdateTimeMs=16000")
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
 
 p.setPhysicsEngineParameter(numSolverIterations=4, minimumSolverIslandSize=1024)
 p.setTimeStep(1. / 120.)

examples/pybullet/examples/createMultiBodyLinks.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.createCollisionShape(p.GEOM_PLANE)
 p.createMultiBody(0, 0)
 

examples/pybullet/examples/createObstacleCourse.py

@@ -1,8 +1,10 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 #don't create a ground plane, to allow for gaps etc
 p.resetSimulation()
 #p.createCollisionShape(p.GEOM_PLANE)

examples/pybullet/examples/createSphereMultiBodies.py

@@ -2,8 +2,10 @@ import pybullet as p
 import time
 
 useMaximalCoordinates = 0
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 #p.loadSDF("stadium.sdf",useMaximalCoordinates=useMaximalCoordinates)
 monastryId = concaveEnv = p.createCollisionShape(p.GEOM_MESH,
                                                  fileName="samurai_monastry.obj",

examples/pybullet/examples/createTexturedMeshVisualShape.py

@@ -1,6 +1,7 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
 
 
 def getRayFromTo(mouseX, mouseY):
@@ -35,6 +36,7 @@ def getRayFromTo(mouseX, mouseY):
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
 p.setPhysicsEngineParameter(numSolverIterations=10)
 p.setTimeStep(1. / 120.)
 logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")

examples/pybullet/examples/createVisualShape.py

@@ -1,6 +1,7 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
 
 
 def getRayFromTo(mouseX, mouseY):
@@ -36,6 +37,8 @@ def getRayFromTo(mouseX, mouseY):
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setPhysicsEngineParameter(numSolverIterations=10)
 p.setTimeStep(1. / 120.)
 logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")

examples/pybullet/examples/createVisualShapeArray.py

@@ -1,6 +1,7 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
 
 
 def getRayFromTo(mouseX, mouseY):
@@ -35,6 +36,8 @@ def getRayFromTo(mouseX, mouseY):
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
 p.setPhysicsEngineParameter(numSolverIterations=10)
 p.setTimeStep(1. / 120.)
 logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "visualShapeBench.json")

examples/pybullet/examples/debugDrawItems.py

@@ -1,9 +1,12 @@
 import pybullet as p
 import time
+import pybullet_data
 
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
 p.loadURDF("plane.urdf")
 kuka = p.loadURDF("kuka_iiwa/model.urdf")
 p.addUserDebugText("tip", [0, 0, 0.1],

examples/pybullet/examples/deformable_anchor.py

@@ -2,6 +2,9 @@ import pybullet as p
 from time import sleep
 
 physicsClient = p.connect(p.GUI)
+import pybullet_data
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
 
 gravZ=-10

examples/pybullet/examples/deformable_ball.py

@@ -1,7 +1,9 @@
 import pybullet as p
 from time import sleep
+import pybullet_data
 
 physicsClient = p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
 

examples/pybullet/examples/deformable_torus.py

@@ -1,8 +1,11 @@
 import pybullet as p
 from time import sleep
+import pybullet_data
 
 physicsClient = p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)
 
 p.setGravity(0, 0, -10)
@@ -11,7 +14,7 @@ planeId = p.loadURDF("plane.urdf", [0,0,-2])
 
 boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)
 
-bunnyId = p.loadSoftBody("torus.vtk", useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, useSelfCollision = 1, frictionCoeff = 0.5)
+bunnyId = p.loadSoftBody("torus.vtk", mass = 1, useNeoHookean = 1, NeoHookeanMu = 60, NeoHookeanLambda = 200, NeoHookeanDamping = 0.01, collisionMargin = 0.006, useSelfCollision = 1, frictionCoeff = 0.5, repulsionStiffness = 50)
 
 bunny2 = p.loadURDF("torus_deform.urdf", [0,1,0], flags=p.URDF_USE_SELF_COLLISION)
 
@@ -20,4 +23,3 @@ p.setRealTimeSimulation(1)
 
 while p.isConnected():
   p.setGravity(0,0,-10)
-  sleep(1./240.)

examples/pybullet/examples/eglRenderTest.py

@@ -2,9 +2,10 @@ import pybullet as p
 import time
 import pkgutil
 egl = pkgutil.get_loader('eglRenderer')
+import pybullet_data
 
 p.connect(p.DIRECT)
-
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 plugin = p.loadPlugin(egl.get_filename(), "_eglRendererPlugin")
 print("plugin=", plugin)
 

examples/pybullet/examples/experimentalCcdSphereRadius.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setPhysicsEngineParameter(allowedCcdPenetration=0.0)
 
 terrain_mass = 0

examples/pybullet/examples/externalTorqueControlledSphere.py

@@ -1,9 +1,11 @@
 import pybullet as p
 import pybullet_data
 import time
+import pybullet_data
 
 p.connect(p.GUI)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadSDF("stadium.sdf")
 p.setGravity(0, 0, -10)
 objects = p.loadMJCF("mjcf/sphere.xml")

examples/pybullet/examples/fileIOPlugin.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 fileIO = p.loadPlugin("fileIOPlugin")
 if (fileIO >= 0):
   #we can have a zipfile (pickup.zip) inside a zipfile (pickup2.zip)

examples/pybullet/examples/forcetorquesensor.py

@@ -1,5 +1,8 @@
 import pybullet as p
-p.connect(p.DIRECT)
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 hinge = p.loadURDF("hinge.urdf")
 print("mass of linkA = 1kg, linkB = 1kg, total mass = 2kg")
 

examples/pybullet/examples/frictionCone.py

@@ -2,7 +2,10 @@ import pybullet as p
 import time
 import math
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 useMaximalCoordinates = False
 
 p.setGravity(0, 0, -10)

examples/pybullet/examples/getAABB.py

@@ -1,4 +1,5 @@
 import pybullet as p
+import pybullet_data
 draw = 1
 printtext = 0
 
@@ -6,6 +7,8 @@ if (draw):
   p.connect(p.GUI)
 else:
   p.connect(p.DIRECT)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 r2d2 = p.loadURDF("r2d2.urdf")
 
 

examples/pybullet/examples/getCameraImageTest.py

@@ -2,10 +2,12 @@ import matplotlib.pyplot as plt
 import numpy as np
 import pybullet as p
 import time
+import pybullet_data
 
 direct = p.connect(p.GUI)  #, options="--window_backend=2 --render_device=0")
 #egl = p.loadPlugin("eglRendererPlugin")
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF('plane.urdf')
 p.loadURDF("r2d2.urdf", [0, 0, 1])
 p.loadURDF('cube_small.urdf', basePosition=[0.0, 0.0, 0.025])

examples/pybullet/examples/getClosestPoints.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 useCollisionShapeQuery = True
 p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
 geom = p.createCollisionShape(p.GEOM_SPHERE, radius=0.1)

examples/pybullet/examples/getTextureUid.py

@@ -1,5 +1,8 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 plane = p.loadURDF("plane.urdf")
 visualData = p.getVisualShapeData(plane, p.VISUAL_SHAPE_DATA_TEXTURE_UNIQUE_IDS)
 print(visualData)

examples/pybullet/examples/grpcClient.py

@@ -1,4 +1,6 @@
 import pybullet as p
+import pybullet_data
+
 
 usePort = True
 
@@ -13,5 +15,7 @@ if (id < 0):
   exit(0)
 
 print("Connected to GRPC")
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 r2d2 = p.loadURDF("r2d2.urdf")
 print("numJoints = ", p.getNumJoints(r2d2))

examples/pybullet/examples/grpcServer.py

@@ -4,7 +4,10 @@ import time
 useDirect = False
 usePort = True
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 id = p.loadPlugin("grpcPlugin")
 #dynamically loading the plugin
 #id = p.loadPlugin("E:/develop/bullet3/bin/pybullet_grpcPlugin_vs2010_x64_debug.dll", postFix="_grpcPlugin")

examples/pybullet/examples/hand.py

@@ -8,6 +8,8 @@
 import serial
 import time
 import pybullet as p
+import pybullet_data
+
 
 #first try to connect to shared memory (VR), if it fails use local GUI
 c = p.connect(p.SHARED_MEMORY)
@@ -15,6 +17,8 @@ print(c)
 if (c < 0):
   p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())  
+
 #load the MuJoCo MJCF hand
 objects = p.loadMJCF("MPL/MPL.xml")
 

examples/pybullet/examples/hello_pybullet.py

@@ -1,8 +1,12 @@
 import pybullet as p
 from time import sleep
+import pybullet_data
+
 
 physicsClient = p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 p.setGravity(0, 0, -10)
 planeId = p.loadURDF("plane.urdf")
 cubeStartPos = [0, 0, 1]

examples/pybullet/examples/humanoidMotionCapture.py

@@ -1,12 +1,15 @@
 import pybullet as p
 import json
 import time
+import pybullet_data
+
 
 useGUI = True
 if useGUI:
   p.connect(p.GUI)
 else:
   p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 useZUp = False
 useYUp = not useZUp

examples/pybullet/examples/humanoid_benchmark.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setGravity(0, 0, -10)
 p.setPhysicsEngineParameter(numSolverIterations=5)
 p.setPhysicsEngineParameter(fixedTimeStep=1. / 240.)

examples/pybullet/examples/humanoid_knee_position_control.py

@@ -1,5 +1,8 @@
 import pybullet as p
 import time
+import pybullet_data
+
+
 
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
@@ -11,6 +14,8 @@ useRealTime = 0
 
 p.setRealTimeSimulation(useRealTime)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 p.setGravity(0, 0, -10)
 
 p.loadSDF("stadium.sdf")

examples/pybullet/examples/humanoid_manual_control.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import time
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 obUids = p.loadMJCF("mjcf/humanoid.xml")
 humanoid = obUids[1]
 

examples/pybullet/examples/ik_end_effector_orientation.py

@@ -4,7 +4,10 @@ import math
 from datetime import datetime
 from time import sleep
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf", [0, 0, -0.3])
 kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0])
 p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])

examples/pybullet/examples/integrate.py

@@ -1,5 +1,8 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 cube = p.loadURDF("cube.urdf")
 frequency = 240
 timeStep = 1. / frequency

examples/pybullet/examples/internalEdge.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import time
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 if (1):
   box_collision_shape_id = p.createCollisionShape(shapeType=p.GEOM_BOX,

examples/pybullet/examples/inverse_kinematics.py

@@ -2,12 +2,15 @@ import pybullet as p
 import time
 import math
 from datetime import datetime
+import pybullet_data
 
 clid = p.connect(p.SHARED_MEMORY)
 if (clid < 0):
   p.connect(p.GUI)
   #p.connect(p.SHARED_MEMORY_GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 p.loadURDF("plane.urdf", [0, 0, -0.3])
 kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0])
 p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])

examples/pybullet/examples/inverse_kinematics_husky_kuka.py

@@ -3,8 +3,11 @@ import time
 import math
 from datetime import datetime
 from datetime import datetime
+import pybullet_data
 
 clid = p.connect(p.SHARED_MEMORY)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 if (clid < 0):
   p.connect(p.GUI)
 p.loadURDF("plane.urdf", [0, 0, -0.3])

examples/pybullet/examples/inverse_kinematics_pole.py

@@ -2,10 +2,13 @@ import pybullet as p
 import time
 import math
 from datetime import datetime
+import pybullet_data
 
 clid = p.connect(p.SHARED_MEMORY)
 if (clid < 0):
   p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf", [0, 0, -1.3])
 p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
 sawyerId = p.loadURDF("pole.urdf", [0, 0, 0])

examples/pybullet/examples/jacobian.py

@@ -1,4 +1,6 @@
 import pybullet as p
+import pybullet_data
+
 
 
 def getJointStates(robot):
@@ -51,6 +53,8 @@ clid = p.connect(p.SHARED_MEMORY)
 if (clid < 0):
   p.connect(p.DIRECT)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 time_step = 0.001
 gravity_constant = -9.81
 p.resetSimulation()

examples/pybullet/examples/jointFrictionAndMotor.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import time
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 door = p.loadURDF("door.urdf")
 
 #linear/angular damping for base and all children=0

examples/pybullet/examples/jointFrictionDamping.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import time
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf", [0, 0, -0.25])
 minitaur = p.loadURDF("quadruped/minitaur_single_motor.urdf", useFixedBase=True)
 print(p.getNumJoints(minitaur))

examples/pybullet/examples/kuka_grasp_block_playback.py

@@ -43,7 +43,10 @@ def readLogFile(filename, verbose=True):
 
 
 #clid = p.connect(p.SHARED_MEMORY)
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadSDF("kuka_iiwa/kuka_with_gripper.sdf")
 p.loadURDF("tray/tray.urdf", [0, 0, 0])
 p.loadURDF("block.urdf", [0, 0, 2])

examples/pybullet/examples/kuka_with_cube.py

@@ -4,7 +4,10 @@ import math
 from datetime import datetime
 
 #clid = p.connect(p.SHARED_MEMORY)
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf", [0, 0, -0.3], useFixedBase=True)
 kukaId = p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 0], useFixedBase=True)
 p.resetBasePositionAndOrientation(kukaId, [0, 0, 0], [0, 0, 0, 1])

examples/pybullet/examples/kuka_with_cube_playback.py

@@ -52,7 +52,10 @@ def readLogFile(filename, verbose=True):
 
 
 #clid = p.connect(p.SHARED_MEMORY)
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf", [0, 0, -0.3])
 p.loadURDF("kuka_iiwa/model.urdf", [0, 0, 1])
 p.loadURDF("cube.urdf", [2, 2, 5])

examples/pybullet/examples/load_soft_body.py

@@ -1,7 +1,11 @@
 import pybullet as p
 from time import sleep
+import pybullet_data
+
 
 physicsClient = p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setGravity(0, 0, -10)
 planeId = p.loadURDF("plane.urdf", [0,0,-2])
 boxId = p.loadURDF("cube.urdf", [0,3,2],useMaximalCoordinates = True)

examples/pybullet/examples/loadingBench.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 p.resetSimulation()
 timinglog = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "loadingBenchVR.json")

examples/pybullet/examples/logMinitaur.py

@@ -1,7 +1,12 @@
 import pybullet as p
+import pybullet_data
+
+
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf")
 
 quadruped = p.loadURDF("quadruped/quadruped.urdf")

examples/pybullet/examples/manyspheres.py

@@ -1,10 +1,13 @@
 import pybullet as p
 import time
+import pybullet_data
+
 
 conid = p.connect(p.SHARED_MEMORY)
 if (conid < 0):
   p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setInternalSimFlags(0)
 p.resetSimulation()
 

examples/pybullet/examples/mimicJointConstraint.py

@@ -3,7 +3,10 @@
 
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf", 0, 0, -2)
 wheelA = p.loadURDF("differential/diff_ring.urdf", [0, 0, 0])
 for i in range(p.getNumJoints(wheelA)):

examples/pybullet/examples/minitaur_test.py

@@ -9,6 +9,9 @@ from minitaur_evaluate import *
 import time
 import math
 import numpy as np
+import pybullet_data
+
+
 
 
 def main(unused_args):
@@ -16,7 +19,7 @@ def main(unused_args):
   c = p.connect(p.SHARED_MEMORY)
   if (c < 0):
     c = p.connect(p.GUI)
-
+  p.setAdditionalSearchPath(pybullet_data.getDataPath())
   params = [
       0.1903581461951056, 0.0006732219568880068, 0.05018085615283363, 3.219916795483583,
       6.2406418167980595, 4.189869754607539

examples/pybullet/examples/motorMaxVelocity.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 cartpole = p.loadURDF("cartpole.urdf")
 p.setRealTimeSimulation(1)
 p.setJointMotorControl2(cartpole,

examples/pybullet/examples/otherPhysicsEngine.py

@@ -2,6 +2,7 @@ import pybullet as p
 import pybullet_data as pd
 import time
 import math
+import pybullet_data
 
 usePhysX = True
 useMaximalCoordinates = True
@@ -11,6 +12,7 @@ if usePhysX:
 else:
   p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setPhysicsEngineParameter(fixedTimeStep=1. / 240.,
                             numSolverIterations=4,
                             minimumSolverIslandSize=1024)

examples/pybullet/examples/pdControl.py

@@ -6,7 +6,10 @@ from pdControllerStable import PDControllerStable
 import time
 
 useMaximalCoordinates = False
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 pole = p.loadURDF("cartpole.urdf", [0, 0, 0], useMaximalCoordinates=useMaximalCoordinates)
 pole2 = p.loadURDF("cartpole.urdf", [0, 1, 0], useMaximalCoordinates=useMaximalCoordinates)
 pole3 = p.loadURDF("cartpole.urdf", [0, 2, 0], useMaximalCoordinates=useMaximalCoordinates)

examples/pybullet/examples/pointCloudFromCameraImage.py

@@ -1,8 +1,10 @@
 import pybullet as p
 import math
 import numpy as np
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 plane = p.loadURDF("plane100.urdf")
 cube = p.loadURDF("cube.urdf", [0, 0, 1])
 

examples/pybullet/examples/profileTiming.py

@@ -2,7 +2,10 @@ import pybullet as p
 import time
 #you can visualize the timings using Google Chrome, visit about://tracing 
 #and load the json file
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 t = time.time() + 3.1
 

examples/pybullet/examples/projective_texture.py

@@ -2,9 +2,11 @@ import pybullet as p
 from time import sleep
 import matplotlib.pyplot as plt
 import numpy as np
+import pybullet_data
 
 physicsClient = p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setGravity(0, 0, 0)
 bearStartPos1 = [-3.3, 0, 0]
 bearStartOrientation1 = p.getQuaternionFromEuler([0, 0, 0])

examples/pybullet/examples/quadruped.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
+
+
 
 
 def drawInertiaBox(parentUid, parentLinkIndex, color):
@@ -128,6 +131,7 @@ if (physId < 0):
   p.connect(p.GUI)
 #p.resetSimulation()
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 angle = 0  # pick in range 0..0.2 radians
 orn = p.getQuaternionFromEuler([0, angle, 0])
 p.loadURDF("plane.urdf", [0, 0, 0], orn)

examples/pybullet/examples/quadruped_playback.py

@@ -9,6 +9,7 @@ import sys
 import os, fnmatch
 import argparse
 from time import sleep
+import pybullet_data
 
 
 def readLogFile(filename, verbose=True):
@@ -56,6 +57,7 @@ def readLogFile(filename, verbose=True):
 
 clid = p.connect(p.SHARED_MEMORY)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 log = readLogFile("LOG00076.TXT")
 
 recordNum = len(log)

examples/pybullet/examples/quadruped_setup_playback.py

@@ -1,5 +1,9 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.SHARED_MEMORY)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 objects = [
     p.loadURDF("plane.urdf", 0.000000, 0.000000, -.300000, 0.000000, 0.000000, 0.000000, 1.000000)
 ]

examples/pybullet/examples/racecar_differential.py

@@ -1,10 +1,13 @@
 import pybullet as p
 import time
+import pybullet_data
+
 
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.resetSimulation()
 p.setGravity(0, 0, -10)
 useRealTimeSim = 1

examples/pybullet/examples/renderPlugin.py

@@ -1,5 +1,8 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 plugin = p.loadPlugin("d:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll",
                       "_testPlugin")
 print("plugin=", plugin)

examples/pybullet/examples/rendertest.py

@@ -10,6 +10,8 @@ import subprocess
 import numpy as np
 import pybullet
 from multiprocessing import Process
+import pybullet_data
+
 
 camTargetPos = [0, 0, 0]
 cameraUp = [0, 0, 1]
@@ -41,6 +43,7 @@ class BulletSim():
 
     print(self.connection_mode, optionstring, *self.argv)
     cid = pybullet.connect(self.connection_mode, options=optionstring, *self.argv)
+    pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
     if cid < 0:
       raise ValueError
     print("connected")

examples/pybullet/examples/reset_dynamic_info.py

@@ -2,7 +2,10 @@ import pybullet as p
 import time
 import math
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 planeId = p.loadURDF(fileName="plane.urdf", baseOrientation=[0.25882, 0, 0, 0.96593])
 p.loadURDF(fileName="cube.urdf", basePosition=[0, 0, 2])
 cubeId = p.loadURDF(fileName="cube.urdf", baseOrientation=[0, 0, 0, 1], basePosition=[0, 0, 4])

examples/pybullet/examples/restitution.py

@@ -3,10 +3,13 @@
 
 import pybullet as p
 import time
+import pybullet_data
 
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   cid = p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 restitutionId = p.addUserDebugParameter("restitution", 0, 1, 1)
 restitutionVelocityThresholdId = p.addUserDebugParameter("res. vel. threshold", 0, 3, 0.2)
 

examples/pybullet/examples/robotcontrol.py

@@ -1,5 +1,8 @@
 import pybullet as p
-p.connect(p.GUI)  #or p.SHARED_MEMORY or p.DIRECT
+import pybullet_data
+
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 p.loadURDF("plane.urdf")
 p.setGravity(0, 0, -10)

examples/pybullet/examples/rollPitchYaw.py

@@ -1,9 +1,12 @@
 import pybullet as p
 import time
+import pybullet_data
 
 cid = p.connect(p.SHARED_MEMORY)
 if (cid < 0):
   p.connect(p.GUI)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 q = p.loadURDF("quadruped/quadruped.urdf", useFixedBase=True)
 rollId = p.addUserDebugParameter("roll", -1.5, 1.5, 0)
 pitchId = p.addUserDebugParameter("pitch", -1.5, 1.5, 0)

examples/pybullet/examples/rotationalFriction.py

@@ -3,7 +3,10 @@ import pybullet as p
 import pybullet_data as pd
 useMaximalCoordinatesA = True
 useMaximalCoordinatesB = True
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setAdditionalSearchPath(pd.getDataPath())
 cube=p.loadURDF("cube_rotate.urdf",useMaximalCoordinates=useMaximalCoordinatesA)
 p.loadURDF("sphere2.urdf",[0,0,2],useMaximalCoordinates=useMaximalCoordinatesB)

examples/pybullet/examples/satCollision.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import time
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.setGravity(0, 0, -10)
 p.setPhysicsEngineParameter(enableSAT=1)
 p.loadURDF("cube_concave.urdf", [0, 0, -25],

examples/pybullet/examples/saveRestoreState.py

@@ -1,6 +1,8 @@
 import pybullet as p
 import math, time
 import difflib, sys
+import pybullet_data
+
 
 numSteps = 500
 numSteps2 = 30
@@ -8,6 +10,7 @@ p.connect(p.GUI, options="--width=1024 --height=768")
 numObjects = 50
 verbose = 0
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 logId = p.startStateLogging(p.STATE_LOGGING_PROFILE_TIMINGS, "saveRestoreTimings.log")
 
 

examples/pybullet/examples/saveWorld.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.SHARED_MEMORY)
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 timestr = time.strftime("%Y%m%d-%H%M%S")
 filename = "saveWorld" + timestr + ".py"
 p.saveWorld(filename)

examples/pybullet/examples/sceneAabb.py

@@ -2,7 +2,10 @@ import pybullet as p
 import time
 import numpy as np
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf")
 p.loadURDF("sphere2.urdf",[0,0,2])
 

examples/pybullet/examples/segmask_linkindex.py

@@ -1,5 +1,8 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 r2d2 = p.loadURDF("r2d2.urdf", [0, 0, 1])
 for l in range(p.getNumJoints(r2d2)):
   print(p.getJointInfo(r2d2, l))

examples/pybullet/examples/shiftCenterOfMass.py

@@ -2,8 +2,11 @@ import pybullet as p
 import time
 import pybullet_data
 
+import pybullet_data
+
 p.connect(p.GUI)
 p.setAdditionalSearchPath(pybullet_data.getDataPath())
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 p.loadURDF("plane.urdf")
 p.setGravity(0, 0, -10)

examples/pybullet/examples/signedDistanceField.py

@@ -1,7 +1,10 @@
 import pybullet as p
 import pybullet
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("toys/concave_box.urdf")
 p.setGravity(0, 0, -10)
 for i in range(10):

examples/pybullet/examples/sleeping.py

@@ -4,7 +4,10 @@ useMaximalCoordinates = False
 
 flags = p.URDF_ENABLE_SLEEPING
 
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.configureDebugVisualizer(p.COV_ENABLE_RENDERING, 0)
 
 p.loadURDF("plane100.urdf", flags=flags, useMaximalCoordinates=useMaximalCoordinates)

examples/pybullet/examples/snake.py

@@ -4,8 +4,10 @@ import math
 
 # This simple snake logic is from some 15 year old Havok C++ demo
 # Thanks to Michael Ewert!
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 plane = p.createCollisionShape(p.GEOM_PLANE)
 
 p.createMultiBody(0, plane)

examples/pybullet/examples/switchConstraintSolver.py

@@ -1,7 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
 
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 #p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_PGS, globalCFM = 0.0001)
 p.setPhysicsEngineParameter(constraintSolverType=p.CONSTRAINT_SOLVER_LCP_DANTZIG,
                             globalCFM=0.000001)

examples/pybullet/examples/testPlugin.py

@@ -1,5 +1,8 @@
 import pybullet as p
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 plugin = p.loadPlugin("D:/develop/bullet3/bin/pybullet_testplugin_vs2010_x64_debug.dll",
                       "_testPlugin")
 print("plugin=", plugin)

examples/pybullet/examples/test_inertia.py

@@ -1,8 +1,11 @@
 import pybullet as p
 from time import sleep
+import pybullet_data
+
 
 physicsClient = p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 useDeformable = True
 if useDeformable:
 	p.resetSimulation(p.RESET_USE_DEFORMABLE_WORLD)

examples/pybullet/examples/testrender.py

@@ -11,9 +11,12 @@ img = [[1, 2, 3] * 50] * 100  #np.random.rand(200, 320)
 #img = [tandard_normal((50,100))
 image = plt.imshow(img, interpolation='none', animated=True, label="blah")
 ax = plt.gca()
+import pybullet_data
 
 pybullet.connect(pybullet.DIRECT)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 #pybullet.loadPlugin("eglRendererPlugin")
 pybullet.loadURDF("plane.urdf", [0, 0, -1])
 pybullet.loadURDF("r2d2.urdf")

examples/pybullet/examples/testrender_egl.py

@@ -17,9 +17,13 @@ img = np.random.rand(200, 320)
 #img = [tandard_normal((50,100))
 image = plt.imshow(img, interpolation='none', animated=True, label="blah")
 ax = plt.gca()
+import pybullet_data
+
 
 pybullet.connect(pybullet.DIRECT)
 
+pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 egl = pkgutil.get_loader('eglRenderer')
 if (egl):
   pybullet.loadPlugin(egl.get_filename(), "_eglRendererPlugin")

examples/pybullet/examples/testrender_np.py

@@ -6,6 +6,7 @@ import numpy as np
 import matplotlib.pyplot as plt
 import pybullet
 import time
+import pybullet_data
 
 plt.ion()
 
@@ -16,6 +17,8 @@ ax = plt.gca()
 
 #pybullet.connect(pybullet.GUI)
 pybullet.connect(pybullet.DIRECT)
+
+pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
 pybullet.loadURDF("plane.urdf", [0, 0, -1])
 pybullet.loadURDF("r2d2.urdf")