Merge remote-tracking branch 'origin/master' into splitImpulse

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"

examples/SharedMemory/PhysicsServerCommandProcessor.cpp

@@ -4979,22 +4979,81 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 				{
 					urdfColObj.m_geometry.m_meshFileType = out_type;
 
-					if (out_type == UrdfGeometry::FILE_STL)
+					if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH)
 					{
-						CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
-						glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
-					}
-					if (out_type == UrdfGeometry::FILE_OBJ)
-					{
-						//create a convex hull for each shape, and store it in a btCompoundShape
+						CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
+						if (out_type == UrdfGeometry::FILE_STL)
+						{
+							CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
+							glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
+						}
 
-						if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_FORCE_CONCAVE_TRIMESH)
+						if (out_type == UrdfGeometry::FILE_OBJ)
 						{
 							CommonFileIOInterface* fileIO = m_data->m_pluginManager.getFileIOInterface();
 							glmesh = LoadMeshFromObj(relativeFileName, pathPrefix, fileIO);
 						}
-						else
+						if (glmesh)
 						{
+							if (compound == 0)
+							{
+								compound = worldImporter->createCompoundShape();
+							}
+
+							btTriangleMesh* meshInterface = new btTriangleMesh();
+							m_data->m_meshInterfaces.push_back(meshInterface);
+
+							for (int i = 0; i < glmesh->m_numIndices / 3; i++)
+							{
+								float* v0 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3)).xyzw;
+								float* v1 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3 + 1)).xyzw;
+								float* v2 = glmesh->m_vertices->at(glmesh->m_indices->at(i * 3 + 2)).xyzw;
+								meshInterface->addTriangle(
+									btVector3(v0[0], v0[1], v0[2])* meshScale,
+									btVector3(v1[0], v1[1], v1[2])* meshScale,
+									btVector3(v2[0], v2[1], v2[2])* meshScale);
+							}
+
+							btBvhTriangleMeshShape* trimesh = new btBvhTriangleMeshShape(meshInterface, true, true);
+							compound->addChildShape(childTransform, trimesh);
+						}
+					}
+					else
+					{
+						if (out_type == UrdfGeometry::FILE_STL)
+						{
+							CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
+							glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
+
+							B3_PROFILE("createConvexHullFromShapes");
+							if (compound == 0)
+							{
+								compound = worldImporter->createCompoundShape();
+							}
+							btConvexHullShape* convexHull = worldImporter->createConvexHullShape();
+							convexHull->setMargin(m_data->m_defaultCollisionMargin);
+							for (int vv = 0; vv < glmesh->m_numvertices; vv++)
+							{
+								btVector3 pt(
+									glmesh->m_vertices->at(vv).xyzw[0],
+									glmesh->m_vertices->at(vv).xyzw[1],
+									glmesh->m_vertices->at(vv).xyzw[2]);
+								convexHull->addPoint(pt * meshScale, false);
+							}
+							if (clientCmd.m_createUserShapeArgs.m_shapes[i].m_collisionFlags & GEOM_INITIALIZE_SAT_FEATURES)
+							{
+								convexHull->initializePolyhedralFeatures();
+							}
+
+							convexHull->recalcLocalAabb();
+							convexHull->optimizeConvexHull();
+
+							compound->addChildShape(childTransform, convexHull);
+						}
+						if (out_type == UrdfGeometry::FILE_OBJ)
+						{
+							//create a convex hull for each shape, and store it in a btCompoundShape
+
 							std::vector<tinyobj::shape_t> shapes;
 							tinyobj::attrib_t attribute;
 							std::string err = tinyobj::LoadObj(attribute, shapes, out_found_filename.c_str(), "", fileIO);
@@ -5019,19 +5078,19 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 								{
 									btVector3 pt;
 									pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 0],
-												attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
-												attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
+										attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 1],
+										attribute.vertices[3 * shape.mesh.indices[f + 0].vertex_index + 2]);
 
 									convexHull->addPoint(pt * meshScale, false);
 
 									pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 0],
-												attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
-												attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
+										attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 1],
+										attribute.vertices[3 * shape.mesh.indices[f + 1].vertex_index + 2]);
 									convexHull->addPoint(pt * meshScale, false);
 
 									pt.setValue(attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 0],
-												attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
-												attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
+										attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 1],
+										attribute.vertices[3 * shape.mesh.indices[f + 2].vertex_index + 2]);
 									convexHull->addPoint(pt * meshScale, false);
 								}
 
@@ -5041,7 +5100,7 @@ bool PhysicsServerCommandProcessor::processCreateCollisionShapeCommand(const str
 								}
 								convexHull->recalcLocalAabb();
 								convexHull->optimizeConvexHull();
-								
+
 								compound->addChildShape(childTransform, convexHull);
 							}
 						}
@@ -5205,6 +5264,7 @@ static void gatherVertices(const btTransform& trans, const btCollisionShape* col
 		}
 		default:
 		{
+			printf("?\n");
 		}
 	}
 }
@@ -5214,6 +5274,7 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 	BT_PROFILE("CMD_REQUEST_MESH_DATA");
 	serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_FAILED;
 	serverStatusOut.m_numDataStreamBytes = 0;
+	int sizeInBytes = 0;
 
 	InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(clientCmd.m_requestMeshDataArgs.m_bodyUniqueId);
 	if (bodyHandle)
@@ -5261,6 +5322,7 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 			{
 				verticesOut[i] = vertices[i];
 			}
+			sizeInBytes = verticesCopied * sizeof(btVector3);
 			serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
 			serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
 			serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
@@ -5292,7 +5354,7 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 					verticesOut[i] = n.m_x;
 				}
 			}
-
+			sizeInBytes = verticesCopied * sizeof(btVector3);
 			serverStatusOut.m_type = CMD_REQUEST_MESH_DATA_COMPLETED;
 			serverStatusOut.m_sendMeshDataArgs.m_numVerticesCopied = verticesCopied;
 			serverStatusOut.m_sendMeshDataArgs.m_startingVertex = clientCmd.m_requestMeshDataArgs.m_startingVertex;
@@ -5301,7 +5363,7 @@ bool PhysicsServerCommandProcessor::processRequestMeshDataCommand(const struct S
 #endif  //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	}
 
-	serverStatusOut.m_numDataStreamBytes = 0;
+	serverStatusOut.m_numDataStreamBytes = sizeInBytes;
 
 	return hasStatus;
 }
@@ -5986,6 +6048,13 @@ struct BatchRayCaster
 			int linkIndex = -1;
 
 			const btRigidBody* body = btRigidBody::upcast(rayResultCallback.m_collisionObject);
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
+			const btSoftBody* softBody = btSoftBody::upcast(rayResultCallback.m_collisionObject);
+			if (softBody)
+			{
+				objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
+			}
+#endif //SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 			if (body)
 			{
 				objectUniqueId = rayResultCallback.m_collisionObject->getUserIndex2();
@@ -6116,6 +6185,7 @@ bool PhysicsServerCommandProcessor::processRequestRaycastIntersectionsCommand(co
 	BatchRayCaster batchRayCaster(m_data->m_threadPool, m_data->m_dynamicsWorld, &rays[0], (b3RayHitInfo*)bufferServerToClient, totalRays);
 	batchRayCaster.castRays(numThreads);
 
+	serverStatusOut.m_numDataStreamBytes = totalRays * sizeof(b3RayData);
 	serverStatusOut.m_raycastHits.m_numRaycastHits = totalRays;
 	serverStatusOut.m_type = CMD_REQUEST_RAY_CAST_INTERSECTIONS_COMPLETED;
 	return hasStatus;
@@ -6218,12 +6288,15 @@ bool PhysicsServerCommandProcessor::processSyncBodyInfoCommand(const struct Shar
 	int usz = m_data->m_userConstraints.size();
 	int* constraintUid = bodyUids + actualNumBodies;
 	serverStatusOut.m_sdfLoadedArgs.m_numUserConstraints = usz;
+	
 	for (int i = 0; i < usz; i++)
 	{
 		int key = m_data->m_userConstraints.getKeyAtIndex(i).getUid1();
 		constraintUid[i] = key;
 	}
 
+	serverStatusOut.m_numDataStreamBytes = sizeof(int) * (actualNumBodies + usz);
+
 	serverStatusOut.m_type = CMD_SYNC_BODY_INFO_COMPLETED;
 	return hasStatus;
 }
@@ -6252,14 +6325,17 @@ bool PhysicsServerCommandProcessor::processSyncUserDataCommand(const struct Shar
 			}
 		}
 	}
+	int sizeInBytes = sizeof(int) * userDataHandles.size();
 	if (userDataHandles.size())
 	{
-		memcpy(bufferServerToClient, &userDataHandles[0], sizeof(int) * userDataHandles.size());
+		memcpy(bufferServerToClient, &userDataHandles[0], sizeInBytes);
 	}
 	// Only clear the client-side cache when a full sync is requested
 	serverStatusOut.m_syncUserDataArgs.m_clearCachedUserDataEntries = clientCmd.m_syncUserDataRequestArgs.m_numRequestedBodies == 0;
 	serverStatusOut.m_syncUserDataArgs.m_numUserDataIdentifiers = userDataHandles.size();
+	serverStatusOut.m_numDataStreamBytes = sizeInBytes;
 	serverStatusOut.m_type = CMD_SYNC_USER_DATA_COMPLETED;
+	
 	return hasStatus;
 }
 
@@ -6289,6 +6365,7 @@ bool PhysicsServerCommandProcessor::processRequestUserDataCommand(const struct S
 	{
 		memcpy(bufferServerToClient, &userData->m_bytes[0], userData->m_bytes.size());
 	}
+	serverStatusOut.m_numDataStreamBytes = userData->m_bytes.size();
 	return hasStatus;
 }
 
@@ -7638,9 +7715,18 @@ bool PhysicsServerCommandProcessor::processRequestContactpointInformationCommand
 						pt.m_linkIndexB = linkIndexB;
 						for (int j = 0; j < 3; j++)
 						{
-							pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
-							pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
-							pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
+							if (swap)
+							{
+								pt.m_contactNormalOnBInWS[j] = -srcPt.m_normalWorldOnB[j];
+								pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnB()[j];
+								pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnA()[j]; 
+							}
+							else
+							{
+								pt.m_contactNormalOnBInWS[j] = srcPt.m_normalWorldOnB[j];
+								pt.m_positionOnAInWS[j] = srcPt.getPositionWorldOnA()[j];
+								pt.m_positionOnBInWS[j] = srcPt.getPositionWorldOnB()[j];
+							}
 						}
 						pt.m_normalForce = srcPt.getAppliedImpulse() / m_data->m_physicsDeltaTime;
 						pt.m_linearFrictionForce1 = srcPt.m_appliedImpulseLateral1 / m_data->m_physicsDeltaTime;
@@ -8234,8 +8320,10 @@ void constructUrdfDeformable(const struct SharedMemoryCommand& clientCmd, UrdfDe
 #endif
 }
 
+
 bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& deformable, const btVector3& pos, const btQuaternion& orn, int* bodyUniqueId, char* bufferServerToClient, int bufferSizeInBytes, btScalar scale, bool useSelfCollision)
 {
+#ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
 	btSoftBody* psb = NULL;
 	CommonFileIOInterface* fileIO(m_data->m_pluginManager.getFileIOInterface());
 	char relativeFileName[1024];
@@ -8448,6 +8536,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 			psb->setTotalMass(deformable.m_mass);
 			psb->setSelfCollision(useSelfCollision);
 			psb->setSpringStiffness(deformable.m_repulsionStiffness);
+			psb->initializeFaceTree();
 		}
 #endif  //SKIP_DEFORMABLE_BODY
 #ifndef SKIP_SOFT_BODY_MULTI_BODY_DYNAMICS_WORLD
@@ -8490,6 +8579,7 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 		*bodyUniqueId = m_data->m_bodyHandles.allocHandle();
 		InternalBodyHandle* bodyHandle = m_data->m_bodyHandles.getHandle(*bodyUniqueId);
 		bodyHandle->m_softBody = psb;
+		psb->setUserIndex2(*bodyUniqueId);
 
 		b3VisualShapeData visualShape;
 
@@ -8542,9 +8632,11 @@ bool PhysicsServerCommandProcessor::processDeformable(const UrdfDeformable& defo
 		notification.m_bodyArgs.m_bodyUniqueId = *bodyUniqueId;
 		m_data->m_pluginManager.addNotification(notification);
 	}
+#endif
 	return true;
 }
 
+
 bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
 {
 	serverStatusOut.m_type = CMD_LOAD_SOFT_BODY_FAILED;
@@ -8601,9 +8693,11 @@ bool PhysicsServerCommandProcessor::processLoadSoftBodyCommand(const struct Shar
 		InternalBodyData* body = m_data->m_bodyHandles.getHandle(bodyUniqueId);
 		strcpy(serverStatusOut.m_dataStreamArguments.m_bodyName, body->m_bodyName.c_str());
 		serverStatusOut.m_loadSoftBodyResultArguments.m_objectUniqueId = bodyUniqueId;
-#endif
+
 	}
+#endif
 	return hasStatus;
+
 }
 
 bool PhysicsServerCommandProcessor::processCreateSensorCommand(const struct SharedMemoryCommand& clientCmd, struct SharedMemoryStatus& serverStatusOut, char* bufferServerToClient, int bufferSizeInBytes)
@@ -10274,7 +10368,7 @@ bool PhysicsServerCommandProcessor::processRequestAabbOverlapCommand(const struc
 			overlapStorage[i].m_objectUniqueId = m_data->m_cachedOverlappingObjects.m_bodyUniqueIds[i];
 			overlapStorage[i].m_linkIndex = m_data->m_cachedOverlappingObjects.m_links[i];
 		}
-
+		serverCmd.m_numDataStreamBytes = numOverlap * totalBytesPerObject;
 		serverCmd.m_type = CMD_REQUEST_AABB_OVERLAP_COMPLETED;
 
 		//int m_startingOverlappingObjectIndex;
@@ -10671,6 +10765,7 @@ bool PhysicsServerCommandProcessor::processCalculateMassMatrixCommand(const stru
 								sharedBuf[element] = massMatrix(i, j);
 							}
 						}
+						serverCmd.m_numDataStreamBytes = sizeInBytes;
 						serverCmd.m_type = CMD_CALCULATED_MASS_MATRIX_COMPLETED;
 					}
 				}
@@ -12379,6 +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_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
 					serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
 				}
@@ -12388,6 +12484,7 @@ bool PhysicsServerCommandProcessor::processRequestCollisionShapeInfoCommand(cons
 				if (linkIndex >= 0 && linkIndex < bodyHandle->m_multiBody->getNumLinks() && bodyHandle->m_multiBody->getLinkCollider(linkIndex))
 				{
 					int numConvertedCollisionShapes = extractCollisionShapes(bodyHandle->m_multiBody->getLinkCollider(linkIndex)->getCollisionShape(), childTrans, collisionShapeStoragePtr, maxNumColObjects);
+					serverCmd.m_numDataStreamBytes = numConvertedCollisionShapes * sizeof(b3CollisionShapeData);
 					serverCmd.m_sendCollisionShapeArgs.m_numCollisionShapes = numConvertedCollisionShapes;
 					serverCmd.m_type = CMD_COLLISION_SHAPE_INFO_COMPLETED;
 				}

examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp

@@ -444,7 +444,12 @@ static void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPa
 					break;
 				}
 				case UrdfGeometry::FILE_STL:
-					glmesh = LoadMeshFromSTL(visual->m_geometry.m_meshFileName.c_str(), fileIO);
+
+					char relativeFileName[1024];
+					if (fileIO->findResourcePath(visual->m_geometry.m_meshFileName.c_str(), relativeFileName, 1024))
+					{
+						glmesh = LoadMeshFromSTL(relativeFileName, fileIO);
+					}
 					break;
 				case UrdfGeometry::FILE_COLLADA:
 				{

examples/pybullet/examples/addPlanarReflection.py

@@ -1,6 +1,8 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
+
 
 
 def getRayFromTo(mouseX, mouseY):
@@ -36,6 +38,7 @@ def getRayFromTo(mouseX, mouseY):
 cid = p.connect(p.GUI)
 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/batchRayCast.py

@@ -1,6 +1,7 @@
 import pybullet as p
 import time
 import math
+import pybullet_data
 
 useGui = True
 
@@ -8,6 +9,7 @@ if (useGui):
   p.connect(p.GUI)
 else:
   p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 
 p.configureDebugVisualizer(p.COV_ENABLE_GUI, 0)
 #p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)

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)

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")
 

examples/pybullet/examples/transparent.py

@@ -1,6 +1,9 @@
 import pybullet as p
 import time
+import pybullet_data
+
 p.connect(p.GUI)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.loadURDF("plane.urdf")
 sphereUid = p.loadURDF("sphere_transparent.urdf", [0, 0, 2])
 

examples/pybullet/examples/urdfEditor.py

@@ -1,6 +1,8 @@
 import pybullet as p
 import time
 from pybullet_utils import urdfEditor
+import pybullet_data
+
 
 ##########################################
 org2 = p.connect(p.DIRECT)
@@ -10,6 +12,8 @@ if (org < 0):
 
 gui = p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 p.resetSimulation(physicsClientId=org)
 
 #door.urdf, hinge.urdf, duck_vhacd.urdf, r2d2.urdf, quadruped/quadruped.urdf

examples/pybullet/examples/vhacd.py

@@ -2,7 +2,10 @@ import pybullet as p
 import pybullet_data as pd
 import os
 
+import pybullet_data
+
 p.connect(p.DIRECT)
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 name_in = os.path.join(pd.getDataPath(), "duck.obj")
 name_out = "duck_vhacd.obj"
 name_log = "log.txt"

examples/pybullet/examples/video_sync_mp4.py

@@ -1,8 +1,11 @@
 import pybullet as p
 import time
+import pybullet_data
 
 #by default, PyBullet runs at 240Hz
 p.connect(p.GUI, options="--mp4=\"test.mp4\" --mp4fps=240")
+
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
 p.configureDebugVisualizer(p.COV_ENABLE_SINGLE_STEP_RENDERING,1)
 p.loadURDF("plane.urdf")
 

examples/pybullet/examples/vrEvent.py

@@ -4,6 +4,7 @@
 # Line width can be changed
 
 import pybullet as p
+import pybullet_data
 
 CONTROLLER_ID = 0
 POSITION = 1
@@ -13,11 +14,14 @@ BUTTONS = 6
 ANALOG_AXIS = 8
 
 #assume that the VR physics server is already started before
+
 c = p.connect(p.SHARED_MEMORY)
 print(c)
 if (c < 0):
   p.connect(p.GUI)
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 p.setInternalSimFlags(0)  #don't load default robot assets etc
 p.resetSimulation()
 p.loadURDF("plane.urdf")

examples/pybullet/examples/vr_kitchen_setup_vrSyncPython.py

@@ -1,5 +1,7 @@
 import pybullet as p
 import time
+import pybullet_data
+
 #p.connect(p.UDP,"192.168.86.100")
 
 cid = p.connect(p.SHARED_MEMORY)
@@ -7,6 +9,8 @@ if (cid < 0):
   p.connect(p.GUI)
 p.resetSimulation()
 
+p.setAdditionalSearchPath(pybullet_data.getDataPath())
+
 meshScale = [.1, .1, .01]
 shift = [0, 0, 0]