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add example of a free moving sphere controlled by external torque

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add some toy shape sorter cube (not finished yet)
This commit is contained in:
erwincoumans
2018-04-01 15:55:32 -07:00
parent 14d37ecb43
commit 507d024f25
10 changed files with 917 additions and 0 deletions
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11
data/mjcf/sphere.xml Normal file
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<!--
MuJoCo MJCF test file. See http://mujoco.org/book/index.html
-->
<mujoco>
<worldbody>
<body pos="0 0 0">
<joint type="free"/>
<geom name="sphere_geom" size="0.05" type="sphere"/>
</body>
</worldbody>
</mujoco>

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data/toys/cube.mtl Normal file
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data/toys/cube.obj Normal file
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# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
# www.blender.org
mtllib cube.mtl
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data/toys/cylinder.mtl Normal file
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data/toys/cylinder.obj Normal file
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data/toys/prism.obj Normal file
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data/toys/shape_sorter.obj Normal file
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vt 0.304720 0.657748
vt 0.378834 0.597878
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vt 0.482871 0.485047
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vt 0.464132 0.519985
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vt 0.462942 0.552208
vt 0.462866 0.564883
vt 0.464132 0.562671
vt 0.466065 0.572313
vt 0.467560 0.583615
vt 0.464867 0.574866
vt 0.468666 0.580764
vt 0.471835 0.587700
vt 0.474584 0.596132
vt 0.470841 0.590796
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vt 0.479374 0.596028
vt 0.542284 0.595850
vt 0.304720 0.299726
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vt 0.503967 0.552209
vt 0.378834 0.375736
vt 0.383150 0.371876
vt 0.555605 0.299726
vt 0.478646 0.599418
vt 0.483455 0.597099
vt 0.482870 0.600527
vt 0.487535 0.596028
vt 0.487095 0.599418
vt 0.491458 0.592854
vt 0.491157 0.596132
vt 0.495074 0.587700
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vt 0.498243 0.580764
vt 0.498181 0.583615
vt 0.500844 0.572313
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vt 0.500874 0.574866
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vt 0.400119 0.458779
vt 0.457642 0.460616
vt 0.480077 0.374691
vt 0.459415 0.445604
vt 0.404578 0.442049
vt 0.000000 0.000000
usemtl Material.004
s off
f 5/1 6/2 1/3
f 10/4 2/5 7/6
f 3/7 20/8 21/9
f 29/10 30/11 2/5
f 3/7 31/12 32/13
f 4/14 32/13 33/15
f 34/16 6/2 5/1
f 36/17 37/18 29/10
f 31/12 3/7 6/2
f 2/5 30/11 38/19
f 28/20 47/21 48/22
f 8/23 55/24 56/25
f 13/26 56/25 57/27
f 14/28 57/27 58/29
f 16/30 15/31 58/29
f 16/30 59/32 60/33
f 18/34 17/35 60/33
f 19/36 18/34 61/37
f 20/8 19/36 62/38
f 20/8 63/39 64/40
f 22/41 21/9 64/40
f 22/41 65/42 66/43
f 24/44 23/45 66/43
f 24/44 67/46 68/47
f 26/48 25/49 68/47
f 26/48 69/50 70/51
f 71/52 38/19 30/11
f 32/13 31/12 72/53
f 71/52 29/10 37/18
f 35/54 82/55 83/56
f 36/17 72/53 91/57
f 62/38 61/37 31/12
f 95/58 74/59 72/53
f 28/20 7/6 38/19
f 27/60 70/51 90/61
f 39/62 90/61 89/63
f 40/64 89/63 88/65
f 41/66 88/65 87/67
f 42/68 87/67 86/69
f 43/70 86/69 85/71
f 45/72 44/73 85/71
f 45/72 84/74 83/56
f 46/75 83/56 82/55
f 47/21 82/55 81/76
f 48/22 81/76 80/77
f 49/78 80/77 79/79
f 50/80 79/79 78/81
f 51/82 78/81 77/83
f 52/84 77/83 76/85
f 53/86 76/85 75/87
f 54/88 75/87 55/24
f 37/18 91/57 96/89
f 73/90 96/89 74/59
f 74/59 96/89 91/57
f 2/5 3/7 4/14
f 7/6 8/23 9/91
f 1/3 2/5 4/14
f 1/3 4/14 5/1
f 10/4 11/92 3/7
f 9/91 10/4 7/6
f 10/4 3/7 2/5
f 12/93 16/30 11/92
f 28/20 1/3 6/2
f 12/93 9/91 8/23
f 27/60 28/20 6/2
f 14/28 15/31 12/93
f 12/93 8/23 13/26
f 26/48 27/60 6/2
f 12/93 13/26 14/28
f 25/49 26/48 6/2
f 1/3 29/10 2/5
f 24/44 25/49 6/2
f 3/7 16/30 17/35
f 23/45 24/44 6/2
f 3/7 17/35 18/34
f 22/41 23/45 6/2
f 3/7 18/34 19/36
f 21/9 22/41 6/2
f 16/30 3/7 11/92
f 6/2 3/7 21/9
f 12/93 15/31 16/30
f 4/14 3/7 32/13
f 3/7 19/36 20/8
f 5/1 4/14 33/15
f 33/15 34/16 5/1
f 1/3 28/20 35/54
f 34/16 31/12 6/2
f 1/3 35/54 36/17
f 36/17 29/10 1/3
f 7/6 2/5 38/19
f 28/20 27/60 39/62
f 54/88 8/23 7/6
f 28/20 39/62 40/64
f 53/86 54/88 7/6
f 28/20 40/64 41/66
f 52/84 53/86 7/6
f 28/20 41/66 42/68
f 51/82 52/84 7/6
f 28/20 42/68 43/70
f 50/80 51/82 7/6
f 28/20 43/70 44/73
f 49/78 50/80 7/6
f 44/73 45/72 28/20
f 7/6 28/20 49/78
f 28/20 45/72 46/75
f 14/28 13/26 57/27
f 13/26 8/23 56/25
f 28/20 48/22 49/78
f 28/20 46/75 47/21
f 15/31 14/28 58/29
f 59/32 16/30 58/29
f 17/35 16/30 60/33
f 61/37 18/34 60/33
f 62/38 19/36 61/37
f 63/39 20/8 62/38
f 21/9 20/8 64/40
f 65/42 22/41 64/40
f 23/45 22/41 66/43
f 67/46 24/44 66/43
f 25/49 24/44 68/47
f 69/50 26/48 68/47
f 27/60 26/48 70/51
f 29/10 71/52 30/11
f 36/17 34/16 33/15
f 35/54 28/20 71/52
f 33/15 32/13 36/17
f 74/59 55/24 75/87
f 32/13 72/53 36/17
f 73/90 35/54 71/52
f 71/52 37/18 73/90
f 36/17 35/54 34/16
f 74/59 75/87 76/85
f 31/12 63/39 62/38
f 74/59 76/85 77/83
f 35/54 90/61 34/16
f 74/59 77/83 78/81
f 88/65 89/63 35/54
f 78/81 79/79 74/59
f 87/67 88/65 35/54
f 74/59 79/79 80/77
f 86/69 87/67 35/54
f 35/54 74/59 80/77
f 85/71 86/69 35/54
f 35/54 80/77 81/76
f 84/74 85/71 35/54
f 35/54 81/76 82/55
f 83/56 84/74 35/54
f 37/18 36/17 91/57
f 35/54 89/63 90/61
f 34/16 90/61 70/51
f 92/94 93/95 55/24
f 92/94 55/24 74/59
f 34/16 70/51 69/50
f 59/32 94/96 31/12
f 34/16 69/50 68/47
f 31/12 34/16 64/40
f 34/16 68/47 67/46
f 93/95 57/27 56/25
f 34/16 67/46 66/43
f 93/95 58/29 57/27
f 34/16 66/43 65/42
f 93/95 59/32 58/29
f 34/16 65/42 64/40
f 93/95 94/96 59/32
f 63/39 31/12 64/40
f 61/37 60/33 31/12
f 93/95 56/25 55/24
f 94/96 95/58 31/12
f 60/33 59/32 31/12
f 39/62 27/60 90/61
f 95/58 92/94 74/59
f 71/52 28/20 38/19
f 95/58 72/53 31/12
f 40/64 39/62 89/63
f 41/66 40/64 88/65
f 42/68 41/66 87/67
f 43/70 42/68 86/69
f 44/73 43/70 85/71
f 84/74 45/72 85/71
f 46/75 45/72 83/56
f 47/21 46/75 82/55
f 48/22 47/21 81/76
f 49/78 48/22 80/77
f 50/80 49/78 79/79
f 51/82 50/80 78/81
f 52/84 51/82 77/83
f 53/86 52/84 76/85
f 54/88 53/86 75/87
f 8/23 54/88 55/24
f 73/90 37/18 96/89
f 35/54 73/90 74/59
f 72/53 74/59 91/57
usemtl Material.004_NONE
f 10/97 95/97 94/97
f 93/97 12/97 11/97
f 10/97 9/97 92/97
f 92/97 9/97 12/97
f 11/97 10/97 94/97
f 94/97 93/97 11/97
f 95/97 10/97 92/97
f 93/97 92/97 12/97