PyBullet: add domino asset and example

examples/pybullet/gym/pybullet_data/domino/domino.mtl

@@ -0,0 +1,11 @@
+# Blender MTL File: 'None'
+# Material Count: 1
+
+newmtl None
+Ns 0
+Ka 0.000000 0.000000 0.000000
+Kd 0.8 0.8 0.8
+Ks 0.8 0.8 0.8
+d 1
+illum 2
+map_Kd domino.jpg

examples/pybullet/gym/pybullet_data/domino/domino.obj

@@ -0,0 +1,152 @@
+# Blender v2.79 (sub 0) OBJ File: ''
+# www.blender.org
+mtllib domino.mtl
+o Cube_Cube.001
+v -0.012700 0.003175 -0.025400
+v -0.012700 0.003175 0.025400
+v 0.012700 0.003175 -0.025400
+v 0.012700 0.003175 0.025400
+v -0.012700 -0.003175 -0.025400
+v -0.012700 -0.003175 0.025400
+v 0.012700 -0.003175 -0.025400
+v 0.012700 -0.003175 0.025400
+v 0.000000 0.003175 -0.025400
+v -0.012700 0.003175 0.000000
+v 0.000000 0.003175 0.025400
+v 0.012700 0.003175 0.000000
+v 0.012700 0.000000 -0.025400
+v 0.012700 0.000000 0.025400
+v 0.012700 -0.003175 0.000000
+v 0.000000 -0.003175 -0.025400
+v 0.000000 -0.003175 0.025400
+v -0.012700 -0.003175 0.000000
+v -0.012700 0.000000 -0.025400
+v -0.012700 0.000000 0.025400
+v 0.000000 0.000000 0.025400
+v 0.000000 0.000000 -0.025400
+v -0.012700 0.000000 0.000000
+v 0.000000 -0.003175 0.000000
+v 0.012700 0.000000 0.000000
+v 0.000000 0.003175 0.000000
+vt 0.126001 0.870497
+vt 0.124465 0.872033
+vt 0.124465 0.870497
+vt 0.237060 0.851119
+vt 0.218639 0.869540
+vt 0.218639 0.851119
+vt 0.245670 0.816240
+vt 0.187635 0.874274
+vt 0.187635 0.816240
+vt 0.128048 0.875036
+vt 0.125628 0.877456
+vt 0.125628 0.875036
+vt 0.234999 0.850344
+vt 0.218252 0.867091
+vt 0.218252 0.850344
+vt 0.126159 0.872047
+vt 0.122877 0.875330
+vt 0.122877 0.872047
+vt 0.218639 0.852670
+vt 0.203807 0.867502
+vt 0.203807 0.852670
+vt 0.218639 0.837837
+vt 0.203807 0.837837
+vt 0.126159 0.868764
+vt 0.122877 0.868764
+vt 0.126351 0.873597
+vt 0.123659 0.876290
+vt 0.123659 0.873597
+vt 0.126351 0.870905
+vt 0.123659 0.870905
+vt 0.234999 0.833597
+vt 0.218252 0.833597
+vt 0.123208 0.877456
+vt 0.123208 0.875036
+vt 0.215927 0.837296
+vt 0.204429 0.848794
+vt 0.204429 0.837296
+vt 0.227424 0.837296
+vt 0.215927 0.848794
+vt 0.129601 0.874274
+vt 0.129601 0.816240
+vt 0.187635 0.758206
+vt 0.129601 0.758206
+vt 0.245670 0.758206
+vt 0.200219 0.869540
+vt 0.200219 0.851119
+vt 0.125240 0.873601
+vt 0.123516 0.875326
+vt 0.123516 0.873601
+vt 0.126964 0.873601
+vt 0.125240 0.875326
+vt 0.122929 0.872033
+vt 0.122929 0.870497
+vt 0.124465 0.868961
+vt 0.122929 0.868961
+vt 0.126001 0.868961
+vt 0.126001 0.872033
+vt 0.237060 0.869540
+vt 0.245670 0.874274
+vt 0.128048 0.877456
+vt 0.234999 0.867091
+vt 0.126159 0.875330
+vt 0.218639 0.867502
+vt 0.126351 0.876290
+vt 0.227424 0.848794
+vt 0.126964 0.875326
+vn 0.0000 1.0000 0.0000
+vn 1.0000 0.0000 0.0000
+vn 0.0000 -1.0000 0.0000
+vn -1.0000 0.0000 0.0000
+vn 0.0000 0.0000 -1.0000
+vn 0.0000 0.0000 1.0000
+usemtl None
+s off
+f 11/1/1 12/2/1 26/3/1
+f 14/4/2 15/5/2 25/6/2
+f 17/7/3 18/8/3 24/9/3
+f 20/10/4 10/11/4 23/12/4
+f 16/13/5 19/14/5 22/15/5
+f 11/16/6 20/17/6 21/18/6
+f 21/19/6 6/20/6 17/21/6
+f 14/22/6 17/21/6 8/23/6
+f 4/24/6 21/18/6 14/25/6
+f 22/26/5 1/27/5 9/28/5
+f 13/29/5 9/28/5 3/30/5
+f 7/31/5 22/15/5 13/32/5
+f 23/12/4 1/33/4 19/34/4
+f 18/35/4 19/36/4 5/37/4
+f 6/38/4 23/39/4 18/35/4
+f 24/9/3 5/40/3 16/41/3
+f 15/42/3 16/41/3 7/43/3
+f 8/44/3 24/9/3 15/42/3
+f 25/6/2 7/45/2 13/46/2
+f 12/47/2 13/48/2 3/49/2
+f 4/50/2 25/51/2 12/47/2
+f 26/3/1 3/52/1 9/53/1
+f 10/54/1 9/53/1 1/55/1
+f 2/56/1 26/3/1 10/54/1
+f 11/1/1 4/57/1 12/2/1
+f 14/4/2 8/58/2 15/5/2
+f 17/7/3 6/59/3 18/8/3
+f 20/10/4 2/60/4 10/11/4
+f 16/13/5 5/61/5 19/14/5
+f 11/16/6 2/62/6 20/17/6
+f 21/19/6 20/63/6 6/20/6
+f 14/22/6 21/19/6 17/21/6
+f 4/24/6 11/16/6 21/18/6
+f 22/26/5 19/64/5 1/27/5
+f 13/29/5 22/26/5 9/28/5
+f 7/31/5 16/13/5 22/15/5
+f 23/12/4 10/11/4 1/33/4
+f 18/35/4 23/39/4 19/36/4
+f 6/38/4 20/65/4 23/39/4
+f 24/9/3 18/8/3 5/40/3
+f 15/42/3 24/9/3 16/41/3
+f 8/44/3 17/7/3 24/9/3
+f 25/6/2 15/5/2 7/45/2
+f 12/47/2 25/51/2 13/48/2
+f 4/50/2 14/66/2 25/51/2
+f 26/3/1 12/2/1 3/52/1
+f 10/54/1 26/3/1 9/53/1
+f 2/56/1 11/1/1 26/3/1

examples/pybullet/gym/pybullet_data/domino/domino.urdf

@@ -0,0 +1,29 @@
+<?xml version="1.0" ?>
+<robot name="cube">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="0.5"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="0.025"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 1.57" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="domino.obj" scale="1 1 1"/>
+      </geometry>
+       <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 	<box size="0.00635 0.0254 0.0508"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

examples/pybullet/gym/pybullet_data/domino/license.txt

@@ -0,0 +1,10 @@
+URDF model created by Erwin Coumans. Mesh / texture created in Blender.
+
+If you use the model, add a citation to PyBullet:
+
+@MISC{coumans2018,
+author =   {Erwin Coumans and Yunfei Bai},
+title =    {PyBullet, a Python module for physics simulation for games, robotics and machine learning},
+howpublished = {\url{http://pybullet.org}},
+year = {2016--2019}
+}

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.)