more fixes in pybullet_gym envs/data.

implement pybullet.setAdditionalSearchPath

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)."},