more fixes in pybullet_gym envs/data.

implement pybullet.setAdditionalSearchPath

examples/pybullet/examples/racecar.py

@@ -1,4 +1,13 @@
+import os, inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+print ("current_dir=" + currentdir)
+parentdir = os.path.join(currentdir,"../gym")
+
+os.sys.path.insert(0,parentdir)
+
 import pybullet as p
+import pybullet_data
+
 import time
 
 cid = p.connect(p.SHARED_MEMORY)
@@ -14,9 +23,9 @@ useRealTimeSim = 1
 #p.startStateLogging(p.STATE_LOGGING_VIDEO_MP4, "racecar.mp4")
 p.setRealTimeSimulation(useRealTimeSim) # either this
 #p.loadURDF("plane.urdf")
-p.loadSDF("stadium.sdf")
+p.loadSDF(os.path.join(pybullet_data.getDataPath(),"stadium.sdf"))
 
-car = p.loadURDF("racecar/racecar.urdf")
+car = p.loadURDF(os.path.join(pybullet_data.getDataPath(),"racecar/racecar.urdf"))
 for i in range (p.getNumJoints(car)):
 	print (p.getJointInfo(car,i))
 

examples/pybullet/examples/test.py

@@ -1,16 +1,27 @@
+#os.sys.path.insert is only needed when pybullet is not installed
+#but running from github repo instead
+import os, inspect
+currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
+print ("current_dir=" + currentdir)
+parentdir = os.path.join(currentdir,"../gym")
+os.sys.path.insert(0,parentdir)
+
+
 import pybullet
+import pybullet_data
+
 import time
 
 #choose connection method: GUI, DIRECT, SHARED_MEMORY
 pybullet.connect(pybullet.GUI)
-pybullet.loadURDF("plane.urdf",0,0,-1)
+pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"plane.urdf"),0,0,-1)
 #load URDF, given a relative or absolute file+path
-obj = pybullet.loadURDF("r2d2.urdf")
+obj = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"r2d2.urdf"))
 
 posX=0
 posY=3
 posZ=2
-obj2 = pybullet.loadURDF("kuka_lwr/kuka.urdf",posX,posY,posZ)
+obj2 = pybullet.loadURDF(os.path.join(pybullet_data.getDataPath(),"kuka_iiwa/model.urdf"),posX,posY,posZ)
 
 #query the number of joints of the object
 numJoints = pybullet.getNumJoints(obj)

examples/pybullet/gym/pybullet_envs/bullet/cartpole_bullet.py

@@ -2,10 +2,10 @@
 Classic cart-pole system implemented by Rich Sutton et al.
 Copied from https://webdocs.cs.ualberta.ca/~sutton/book/code/pole.c
 """
-import os, inspect
+import os,  inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-print ("current_dir=" + currentdir)
-os.sys.path.insert(0,currentdir)
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
 
 import logging
 import math

examples/pybullet/gym/pybullet_envs/bullet/kuka.py

@@ -1,7 +1,7 @@
-import os, inspect
+import os,  inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-print ("current_dir=" + currentdir)
-os.sys.path.insert(0,currentdir)
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
 
 import pybullet as p
 import numpy as np

examples/pybullet/gym/pybullet_envs/bullet/kukaCamGymEnv.py

@@ -1,7 +1,8 @@
-import os, inspect
+import os,  inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-print ("current_dir=" + currentdir)
-os.sys.path.insert(0,currentdir)
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
+
 
 import math
 import gym

examples/pybullet/gym/pybullet_envs/bullet/racecarGymEnv.py

@@ -1,4 +1,3 @@
-import os
 import os,  inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
 parentdir = os.path.dirname(os.path.dirname(currentdir))

examples/pybullet/gym/pybullet_envs/bullet/simpleHumanoidGymEnv.py

@@ -1,8 +1,7 @@
-import os
-import os, inspect
+import os,  inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-print ("current_dir=" + currentdir)
-os.sys.path.insert(0,currentdir)
+parentdir = os.path.dirname(os.path.dirname(currentdir))
+os.sys.path.insert(0,parentdir)
 
 import math
 import gym

examples/pybullet/gym/pybullet_envs/robot_bases.py

@@ -3,7 +3,7 @@ import gym, gym.spaces, gym.utils
 import numpy as np
 import os, inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-parentdir = os.path.dirname(os.path.dirname(currentdir))
+parentdir = os.path.dirname(currentdir)
 os.sys.path.insert(0,parentdir)
 import pybullet_data
 

examples/pybullet/gym/pybullet_envs/scene_stadium.py

@@ -1,11 +1,11 @@
 import os,  inspect
 currentdir = os.path.dirname(os.path.abspath(inspect.getfile(inspect.currentframe())))
-parentdir = os.path.dirname(os.path.dirname(currentdir))
+parentdir = os.path.dirname(currentdir)
 os.sys.path.insert(0,parentdir)
 import pybullet_data
 
 
-from .scene_abstract import Scene
+from pybullet_envs.scene_abstract import Scene
 import pybullet as p
 
 

examples/pybullet/pybullet.c

@@ -3701,6 +3701,36 @@ static PyObject* pybullet_stopStateLogging(PyObject* self, PyObject* args, PyObj
 	return Py_None;
 }
 
+
+static PyObject* pybullet_setAdditionalSearchPath(PyObject* self, PyObject* args, PyObject* keywds)
+{
+	static char* kwlist[] = {"path", "physicsClientId", NULL};
+	char* path = 0;
+	int physicsClientId = 0;
+	b3PhysicsClientHandle sm = 0;
+
+	if (!PyArg_ParseTupleAndKeywords(args, keywds, "s|i", kwlist,
+									 &path, &physicsClientId))
+		return NULL;
+	if (path)
+	{
+		b3SharedMemoryCommandHandle commandHandle;
+		b3SharedMemoryStatusHandle statusHandle;
+
+		sm = getPhysicsClient(physicsClientId);
+		if (sm == 0)
+		{
+			PyErr_SetString(SpamError, "Not connected to physics server.");
+			return NULL;
+		}
+		commandHandle = b3SetAdditionalSearchPath(sm, path);
+		statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
+	}
+
+	Py_INCREF(Py_None);
+	return Py_None;
+}
+
 static PyObject* pybullet_setTimeOut(PyObject* self, PyObject* args, PyObject* keywds)
 {
 	static char* kwlist[] = {"timeOutInSeconds", "physicsClientId", NULL};
@@ -7215,6 +7245,10 @@ static PyMethodDef SpamMethods[] = {
 	{"setTimeOut", (PyCFunction)pybullet_setTimeOut, METH_VARARGS | METH_KEYWORDS,
 	 "Set the timeOut in seconds, used for most of the API calls."},
 
+	{"setAdditionalSearchPath", (PyCFunction)pybullet_setAdditionalSearchPath,
+	 METH_VARARGS | METH_KEYWORDS,
+	 "Set an additional search path, used to load URDF/SDF files."},
+
 	{"getAPIVersion", (PyCFunction)pybullet_getAPIVersion,
 	 METH_VARARGS | METH_KEYWORDS,
 	 "Get version of the API. Compatibility exists for connections using the same API version. Make sure both client and server use the same number of bits (32-bit or 64bit)."},