PyBullet: add domino asset and example

examples/pybullet/gym/pybullet_envs/examples/dominoes.py

@@ -0,0 +1,37 @@
+import pybullet_data as pd
+import pybullet_utils as pu
+import pybullet
+import pybullet_utils.bullet_client as bc
+import time
+
+p = bc.BulletClient(connection_mode=pybullet.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+p.loadURDF("plane_transparent.urdf", useMaximalCoordinates=True)
+p#.setPhysicsEngineParameter(numSolverIterations=10, fixedTimeStep=0.01)
+
+
+p.configureDebugVisualizer(p.COV_ENABLE_PLANAR_REFLECTION,1)
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,0)
+
+y2z = p.getQuaternionFromEuler([0,0,1.57])
+meshScale = [1,1,1]
+visualShapeId = p.createVisualShape(shapeType=p.GEOM_MESH,fileName="domino/domino.obj", rgbaColor=[1,1,1,1], specularColor=[0.4,.4,0], visualFrameOrientation=y2z, meshScale=meshScale)
+
+boxDimensions = [0.5*0.00635, 0.5*0.0254, 0.5*0.0508]
+collisionShapeId = p.createCollisionShape(p.GEOM_BOX,halfExtents=boxDimensions)
+
+
+for j in range (12):
+  print("j=",j)
+  for i in range (35):
+    #p.loadURDF("domino/domino.urdf",[i*0.04,0, 0.06])
+    p.createMultiBody(baseMass=0.025,baseCollisionShapeIndex = collisionShapeId,baseVisualShapeIndex = visualShapeId, basePosition = [i*0.04,j*0.05, 0.06], useMaximalCoordinates=True)
+  
+p.configureDebugVisualizer(p.COV_ENABLE_RENDERING,1)
+
+p.setGravity(0,0,-9.8)
+p.setRealTimeSimulation(1)
+while (1):
+  p.setGravity(0,0,-9.8)
+  #p.stepSimulation(1./100.)
+  time.sleep(1./240.)