Bart/bullet3
1
0
Fork 0
Code Issues Pull Requests Releases Wiki Activity

add example of a free moving sphere controlled by external torque

Browse Source 
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
Download Patch File Download Diff File Expand all files Collapse all files

11
data/mjcf/sphere.xml Normal file
View File

@@ -0,0 +1,11 @@
<!--
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>

11
data/toys/cube.mtl Normal file
View File

@@ -0,0 +1,11 @@
# Blender MTL File: 'shape_sort.blend'
# Material Count: 1
newmtl Material.002
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.017444 0.640000 0.032216
Ks 0.034126 0.500000 0.031333
Ni 1.000000
d 1.000000
illum 2

64
data/toys/cube.obj Normal file
View File

@@ -0,0 +1,64 @@
# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
# www.blender.org
mtllib cube.mtl
o Cube.001_Cube.002
v -0.231854 0.040516 -0.056463
v -0.231854 0.040516 -0.121937
v -0.144556 0.040516 -0.121937
v -0.144556 0.040516 -0.056463
v -0.231854 0.127815 -0.056463
v -0.231854 0.127815 -0.121937
v -0.144556 0.127815 -0.121937
v -0.144556 0.127815 -0.056463
v -0.231854 0.040516 -0.056463
v -0.231854 0.040516 -0.121937
v -0.144556 0.040516 -0.121937
v -0.144556 0.040516 -0.056463
v -0.231854 0.127815 -0.056463
v -0.231854 0.127815 -0.121937
v -0.144556 0.127815 -0.121937
v -0.144556 0.127815 -0.056463
vt 1.044600 0.042083
vt 1.044600 -0.957917
vt 0.044600 -0.957917
vt 1.905897 0.042083
vt 1.905897 -0.957917
vt 0.905898 -0.957917
vt -0.955400 0.042083
vt -0.955400 -0.957917
vt -0.094102 0.042083
vt -0.094102 -0.957917
vt 0.905898 1.044600
vt 1.905897 1.044600
vt 1.905897 0.044600
vt -0.094102 1.044600
vt -0.094102 0.044600
vt 0.044600 0.042083
vt 0.905898 0.042083
vt 0.905898 0.044600
usemtl Material.002
s off
f 6/1 2/2 1/3
f 7/4 3/5 2/6
f 8/7 4/8 3/3
f 5/9 1/10 4/6
f 2/11 3/12 4/13
f 7/11 6/14 5/15
f 14/1 10/2 9/3
f 15/4 11/5 10/6
f 16/7 12/8 11/3
f 13/9 9/10 12/6
f 10/11 11/12 12/13
f 15/11 14/14 13/15
f 5/16 6/1 1/3
f 6/17 7/4 2/6
f 7/16 8/7 3/3
f 8/17 5/9 4/6
f 1/18 2/11 4/13
f 8/18 7/11 5/15
f 13/16 14/1 9/3
f 14/17 15/4 10/6
f 15/16 16/7 11/3
f 16/17 13/9 12/6
f 9/18 10/11 12/13
f 16/18 15/11 13/15

11
data/toys/cylinder.mtl Normal file
View File

@@ -0,0 +1,11 @@
# Blender MTL File: 'shape_sort.blend'
# Material Count: 1
newmtl Material.001
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.013473 0.018536 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2

282
data/toys/cylinder.obj Normal file
View File

@@ -0,0 +1,282 @@
# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
# www.blender.org
mtllib cylinder.mtl
o Cylinder.001
v -0.291246 0.045696 0.165546
v -0.214241 0.045696 0.165546
v -0.291246 0.034429 0.166100
v -0.214241 0.034429 0.166100
v -0.291246 0.023595 0.167744
v -0.214241 0.023595 0.167744
v -0.291246 0.013610 0.170412
v -0.214241 0.013610 0.170412
v -0.291246 0.004859 0.174003
v -0.214241 0.004858 0.174003
v -0.291246 -0.002324 0.178379
v -0.214241 -0.002324 0.178379
v -0.291246 -0.007661 0.183372
v -0.214241 -0.007661 0.183372
v -0.291246 -0.010947 0.188789
v -0.214241 -0.010947 0.188789
v -0.291246 -0.012057 0.194422
v -0.214241 -0.012057 0.194422
v -0.291246 -0.010947 0.200056
v -0.214241 -0.010947 0.200056
v -0.291246 -0.007661 0.205473
v -0.214241 -0.007661 0.205473
v -0.291246 -0.002324 0.210465
v -0.214241 -0.002324 0.210465
v -0.291246 0.004859 0.214841
v -0.214241 0.004858 0.214841
v -0.291246 0.013610 0.218432
v -0.214241 0.013610 0.218432
v -0.291246 0.023595 0.221101
v -0.214241 0.023595 0.221101
v -0.291246 0.034429 0.222744
v -0.214241 0.034429 0.222744
v -0.291246 0.045696 0.223299
v -0.214241 0.045696 0.223299
v -0.291246 0.056963 0.222744
v -0.214241 0.056963 0.222744
v -0.291246 0.067797 0.221101
v -0.214241 0.067797 0.221101
v -0.291246 0.077782 0.218432
v -0.214241 0.077782 0.218432
v -0.291246 0.086534 0.214841
v -0.214241 0.086534 0.214841
v -0.291246 0.093716 0.210465
v -0.214241 0.093716 0.210465
v -0.291246 0.099053 0.205473
v -0.214241 0.099053 0.205473
v -0.291246 0.102340 0.200056
v -0.214241 0.102340 0.200056
v -0.291246 0.103449 0.194422
v -0.214241 0.103449 0.194422
v -0.291246 0.102340 0.188789
v -0.214241 0.102340 0.188789
v -0.291246 0.099053 0.183371
v -0.214241 0.099053 0.183371
v -0.291246 0.093716 0.178379
v -0.214241 0.093716 0.178379
v -0.291246 0.086534 0.174003
v -0.214241 0.086534 0.174003
v -0.291246 0.077782 0.170412
v -0.214241 0.077782 0.170412
v -0.291246 0.067797 0.167744
v -0.214241 0.067797 0.167744
v -0.291246 0.056963 0.166100
v -0.214241 0.056963 0.166100
vt 0.306049 0.488177
vt 0.092448 0.519423
vt 0.067655 0.516411
vt 0.270128 0.485165
vt 0.049219 0.513369
vt 0.232794 0.482123
vt 0.034123 0.510414
vt 0.020864 0.507658
vt 0.163092 0.476412
vt 0.008587 0.505209
vt 0.133302 0.473963
vt 1.008587 0.505209
vt 0.996728 0.503160
vt 1.106812 0.471914
vt 0.984865 0.501590
vt 1.082707 0.470344
vt 0.972628 0.500559
vt 0.959652 0.500107
vt 1.036012 0.468861
vt 0.945535 0.500252
vt 1.008811 0.469006
vt 0.929810 0.500987
vt 0.972352 0.469741
vt 0.911918 0.502285
vt 0.913273 0.471038
vt 0.891203 0.504095
vt 0.866959 0.506348
vt 0.698338 0.475102
vt 0.838607 0.508958
vt 0.630535 0.477711
vt 0.806049 0.511823
vt 0.592448 0.480577
vt 0.770128 0.514835
vt 0.732794 0.517877
vt 0.549219 0.486631
vt 0.696491 0.520833
vt 0.534123 0.489586
vt 0.663092 0.523588
vt 0.520864 0.492342
vt 0.633302 0.526037
vt 0.508586 0.494791
vt 0.606812 0.528086
vt 0.496728 0.496840
vt 0.582707 0.529656
vt 0.559695 0.530687
vt 0.472628 0.499441
vt 0.536012 0.531139
vt 0.459652 0.499893
vt 0.508810 0.530994
vt 0.445535 0.499748
vt 0.472352 0.530259
vt 0.413273 0.528962
vt 0.411918 0.497715
vt 0.310810 0.527152
vt 0.391202 0.495905
vt 0.198337 0.524898
vt 1.020864 0.507658
vt 1.034123 0.510414
vt 0.130535 0.522289
vt 0.366959 0.493652
vt 1.391202 0.495905
vt 0.196491 0.479167
vt 1.133302 0.473963
vt 1.059695 0.469313
vt 0.810811 0.472848
vt 0.567655 0.483589
vt 0.484865 0.498410
vt 0.429810 0.499013
vt 1.092448 0.519423
vt 1.067655 0.516411
vt 1.198337 0.524898
vt 1.413273 0.528962
vt 1.310810 0.527152
vt 1.472352 0.530259
vt 1.130535 0.522289
vt 1.049219 0.513369
vt 0.338607 0.491042
vt 1.270128 0.485165
vt 1.306049 0.488177
vt 1.196491 0.479167
vt 1.232794 0.482123
vt 1.163092 0.476412
vt 1.366959 0.493652
vt 1.338607 0.491042
vt 1.429810 0.499013
vt 1.411918 0.497715
vt 1.445535 0.499748
vt 1.459652 0.499893
usemtl Material.001
s off
f 1/1 2/2 4/3
f 3/4 4/3 6/5
f 5/6 6/5 8/7
f 8/7 10/8 9/9
f 10/8 12/10 11/11
f 12/12 14/13 13/14
f 14/13 16/15 15/16
f 15/16 16/15 18/17
f 18/17 20/18 19/19
f 20/18 22/20 21/21
f 22/20 24/22 23/23
f 24/22 26/24 25/25
f 25/25 26/24 28/26
f 28/26 30/27 29/28
f 30/27 32/29 31/30
f 32/29 34/31 33/32
f 33/32 34/31 36/33
f 36/33 38/34 37/35
f 38/34 40/36 39/37
f 40/36 42/38 41/39
f 42/38 44/40 43/41
f 44/40 46/42 45/43
f 45/43 46/42 48/44
f 48/44 50/45 49/46
f 50/45 52/47 51/48
f 52/47 54/49 53/50
f 53/50 54/49 56/51
f 56/51 58/52 57/53
f 58/52 60/54 59/55
f 59/55 60/54 62/56
f 26/24 10/57 8/58
f 64/59 2/2 1/1
f 61/60 62/56 64/59
f 37/35 39/37 59/61
f 3/4 1/1 4/3
f 5/6 3/4 6/5
f 7/62 5/6 8/7
f 7/62 8/7 9/9
f 9/9 10/8 11/11
f 11/63 12/12 13/14
f 13/14 14/13 15/16
f 17/64 15/16 18/17
f 17/64 18/17 19/19
f 19/19 20/18 21/21
f 21/21 22/20 23/23
f 23/23 24/22 25/25
f 27/65 25/25 28/26
f 27/65 28/26 29/28
f 29/28 30/27 31/30
f 31/30 32/29 33/32
f 35/66 33/32 36/33
f 35/66 36/33 37/35
f 37/35 38/34 39/37
f 39/37 40/36 41/39
f 41/39 42/38 43/41
f 43/41 44/40 45/43
f 47/67 45/43 48/44
f 47/67 48/44 49/46
f 49/46 50/45 51/48
f 51/48 52/47 53/50
f 55/68 53/50 56/51
f 55/68 56/51 57/53
f 57/53 58/52 59/55
f 61/60 59/55 62/56
f 2/69 34/31 4/70
f 38/34 36/33 62/71
f 58/72 40/36 60/73
f 54/49 44/40 56/74
f 50/45 48/44 52/47
f 46/42 54/49 48/44
f 14/13 22/20 20/18
f 12/12 10/57 24/22
f 2/69 64/75 34/31
f 30/27 6/76 32/29
f 26/24 8/58 28/26
f 63/77 61/60 64/59
f 64/75 36/33 34/31
f 14/13 20/18 16/15
f 44/40 42/38 56/74
f 40/36 38/34 60/73
f 38/34 62/71 60/73
f 10/57 26/24 24/22
f 48/44 54/49 52/47
f 34/31 32/29 4/70
f 8/58 6/76 28/26
f 54/49 46/42 44/40
f 20/18 18/17 16/15
f 42/38 58/72 56/74
f 63/77 64/59 1/1
f 32/29 6/76 4/70
f 12/12 24/22 14/13
f 58/72 42/38 40/36
f 36/33 64/75 62/71
f 24/22 22/20 14/13
f 6/76 30/27 28/26
f 3/78 31/30 1/79
f 7/80 29/28 5/81
f 11/63 23/23 9/82
f 15/16 21/21 13/14
f 15/16 17/64 19/19
f 61/83 63/84 35/66
f 27/65 7/80 25/25
f 41/39 55/85 57/86
f 35/66 63/84 33/32
f 53/87 55/85 43/41
f 43/41 55/85 41/39
f 47/67 53/87 45/43
f 47/67 49/46 51/88
f 59/61 39/37 57/86
f 29/28 31/30 5/81
f 7/80 27/65 29/28
f 45/43 53/87 43/41
f 47/67 51/88 53/87
f 61/83 37/35 59/61
f 31/30 3/78 5/81
f 15/16 19/19 21/21
f 21/21 23/23 13/14
f 39/37 41/39 57/86
f 7/80 9/82 25/25
f 1/79 31/30 33/32
f 23/23 11/63 13/14
f 9/82 23/23 25/25
f 37/35 61/83 35/66
f 63/84 1/79 33/32

11
data/toys/prism.mtl Normal file
View File

@@ -0,0 +1,11 @@
# Blender MTL File: 'shape_sort.blend'
# Material Count: 1
newmtl Material.003
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.007339 0.006282
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2

45
data/toys/prism.obj Normal file
View File

@@ -0,0 +1,45 @@
# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
# www.blender.org
mtllib prism.mtl
o Cube.002_Cube.005
v -0.233641 -0.103557 0.060897
v -0.233641 -0.103557 -0.057063
v -0.149383 -0.103557 -0.057063
v -0.149383 -0.103557 0.060897
v -0.233013 -0.039217 0.035115
v -0.233013 -0.039217 -0.031280
v -0.150011 -0.039217 -0.031280
v -0.150011 -0.039217 0.035115
vt 0.780473 0.523151
vt 0.999041 -0.022288
vt -0.000959 -0.022288
vt 1.896793 0.523151
vt 1.904244 -0.022288
vt 0.904244 -0.022288
vt 0.217610 0.523151
vt -0.088305 0.523151
vt -0.095756 -0.022288
vt 0.904244 1.999041
vt 1.904244 1.999041
vt 1.904244 0.999041
vt 0.896793 0.780473
vt -0.088305 0.780473
vt -0.088305 0.217610
vt 0.911695 0.523151
vt 0.896793 0.523151
vt 0.904244 0.999041
vt 0.896793 0.217610
usemtl Material.003
s off
f 6/1 2/2 1/3
f 7/4 3/5 2/6
f 8/7 4/3 3/2
f 5/8 1/9 4/6
f 2/10 3/11 4/12
f 7/13 6/14 5/15
f 5/7 6/1 1/3
f 6/16 7/4 2/6
f 7/1 8/7 3/2
f 8/17 5/8 4/6
f 1/18 2/10 4/12
f 8/19 7/13 5/15

21
data/toys/shape_sorter.mtl Normal file
View File

@@ -0,0 +1,21 @@
# Blender MTL File: 'shape_sort.blend'
# Material Count: 2
newmtl Material.004
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2
map_Kd E:\develop\bullet3\data\table\table.png
newmtl Material.004_NONE
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 0.640000 0.640000 0.640000
Ks 0.500000 0.500000 0.500000
Ni 1.000000
d 1.000000
illum 2

400
data/toys/shape_sorter.obj Normal file
View File

@@ -0,0 +1,400 @@
# Blender v2.71 (sub 0) OBJ File: 'shape_sort.blend'
# www.blender.org
mtllib shape_sorter.mtl
o Cube
v -0.200000 0.200000 -0.200000
v -0.200000 -0.200000 -0.200000
v -0.200000 0.037707 -0.055248
v -0.200000 0.037707 -0.124929
v -0.200000 0.130615 -0.124929
v -0.200000 0.130615 -0.055248
v -0.200000 -0.200000 0.200000
v -0.200000 0.014752 0.076444
v -0.200000 -0.109627 0.071917
v -0.200000 -0.109627 -0.068083
v -0.200000 -0.033266 -0.037483
v -0.200000 -0.033266 0.041318
v -0.200000 0.015905 0.070592
v -0.200000 0.019320 0.064964
v -0.200000 0.024864 0.059777
v -0.200000 0.032326 0.055231
v -0.200000 0.041418 0.051500
v -0.200000 0.051791 0.048728
v -0.200000 0.063047 0.047021
v -0.200000 0.074753 0.046444
v -0.200000 0.086458 0.047021
v -0.200000 0.097713 0.048728
v -0.200000 0.108087 0.051500
v -0.200000 0.117179 0.055231
v -0.200000 0.124641 0.059777
v -0.200000 0.130185 0.064964
v -0.200000 0.133600 0.070592
v -0.200000 0.200000 0.200000
v 0.200000 0.200000 -0.200000
v 0.200000 -0.200000 -0.200000
v -0.179938 0.037707 -0.055248
v -0.179938 0.037707 -0.124929
v -0.179938 0.130615 -0.124929
v -0.179938 0.130615 -0.055248
v -0.179938 0.200000 0.179938
v -0.179938 0.200000 -0.179938
v 0.179938 0.200000 -0.179938
v 0.200000 -0.200000 0.200000
v -0.200000 0.134752 0.076444
v -0.200000 0.133600 0.082297
v -0.200000 0.130185 0.087925
v -0.200000 0.124641 0.093111
v -0.200000 0.117179 0.097657
v -0.200000 0.108087 0.101388
v -0.200000 0.097714 0.104161
v -0.200000 0.086458 0.105868
v -0.200000 0.074753 0.106444
v -0.200000 0.063047 0.105868
v -0.200000 0.051792 0.104161
v -0.200000 0.041418 0.101388
v -0.200000 0.032326 0.097657
v -0.200000 0.024864 0.093111
v -0.200000 0.019320 0.087925
v -0.200000 0.015905 0.082297
v -0.179938 0.014752 0.076444
v -0.179938 0.015905 0.070592
v -0.179938 0.019320 0.064964
v -0.179938 0.024864 0.059777
v -0.179938 0.032326 0.055231
v -0.179938 0.041418 0.051500
v -0.179938 0.051791 0.048728
v -0.179938 0.063047 0.047021
v -0.179938 0.074752 0.046444
v -0.179938 0.086458 0.047021
v -0.179938 0.097713 0.048728
v -0.179938 0.108087 0.051500
v -0.179938 0.117179 0.055231
v -0.179938 0.124641 0.059777
v -0.179938 0.130185 0.064964
v -0.179938 0.133600 0.070592
v 0.200000 0.200000 0.200000
v -0.179938 -0.185168 -0.179938
v 0.179938 0.200000 0.179938
v -0.179938 -0.185168 0.179938
v -0.179938 0.015905 0.082297
v -0.179938 0.019320 0.087925
v -0.179938 0.024864 0.093111
v -0.179938 0.032326 0.097657
v -0.179938 0.041418 0.101388
v -0.179938 0.051791 0.104161
v -0.179938 0.063047 0.105868
v -0.179938 0.074753 0.106444
v -0.179938 0.086458 0.105868
v -0.179938 0.097714 0.104161
v -0.179938 0.108087 0.101388
v -0.179938 0.117179 0.097657
v -0.179938 0.124641 0.093111
v -0.179938 0.130185 0.087925
v -0.179938 0.133600 0.082297
v -0.179938 0.134752 0.076444
v 0.179938 -0.185168 -0.179938
v -0.179938 -0.109627 0.071917
v -0.179938 -0.033266 0.041318
v -0.179938 -0.033266 -0.037483
v -0.179938 -0.109627 -0.068083
v 0.179938 -0.185168 0.179938
vt 0.337529 0.596545
vt 0.387821 0.596545
vt 0.283346 0.663317
vt 0.379674 0.386434
vt 0.283346 0.278382
vt 0.572047 0.278383
vt 0.387821 0.507137
vt 0.461218 0.542787
vt 0.461634 0.554051
vt 0.372847 0.595850
vt 0.372847 0.369934
vt 0.391646 0.506894
vt 0.343069 0.506894
vt 0.337529 0.507137
vt 0.343069 0.593253
vt 0.391646 0.593253
vt 0.304720 0.657748
vt 0.378834 0.597878
vt 0.542284 0.369934
vt 0.572047 0.663317
vt 0.504523 0.542787
vt 0.504107 0.531523
vt 0.482871 0.485047
vt 0.483455 0.485557
vt 0.479374 0.486628
vt 0.478646 0.486156
vt 0.475451 0.489802
vt 0.474584 0.489442
vt 0.471835 0.494956
vt 0.467560 0.501959
vt 0.470841 0.494778
vt 0.468666 0.501892
vt 0.466065 0.510343
vt 0.462866 0.520691
vt 0.464867 0.510708
vt 0.461634 0.531522
vt 0.464132 0.519985
vt 0.462942 0.530448
vt 0.462540 0.541328
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
vt 0.475451 0.592854
vt 0.479374 0.596028
vt 0.542284 0.595850
vt 0.304720 0.299726
vt 0.555605 0.657748
vt 0.504369 0.541328
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
vt 0.494900 0.590796
vt 0.498243 0.580764
vt 0.498181 0.583615
vt 0.500844 0.572313
vt 0.502875 0.564883
vt 0.500874 0.574866
vt 0.502777 0.562671
vt 0.504107 0.554052
vt 0.503967 0.530448
vt 0.502777 0.519985
vt 0.502875 0.520691
vt 0.500844 0.510343
vt 0.500874 0.510708
vt 0.498243 0.501892
vt 0.498181 0.501959
vt 0.495074 0.494956
vt 0.494900 0.494778
vt 0.491458 0.489802
vt 0.491157 0.489442
vt 0.487535 0.486628
vt 0.487095 0.486156
vt 0.534501 0.375736
vt 0.534501 0.597878
vt 0.478009 0.388189
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

61
examples/pybullet/examples/externalTorqueControlledSphere.py Normal file
View File

@@ -0,0 +1,61 @@
import pybullet as p
import pybullet_data
import time
p.connect(p.GUI)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
p.loadSDF("stadium.sdf")
p.setGravity(0,0,-10)
objects = p.loadMJCF("mjcf/sphere.xml")
sphere = objects[0]
p.resetBasePositionAndOrientation(sphere,[0,0,1],[0,0,0,1])
p.changeDynamics(sphere,-1,linearDamping=0.9)
p.changeVisualShape(sphere,-1,rgbaColor=[1,0,0,1])
forward = 0
turn = 0
forwardVec = [2,0,0]
cameraDistance = 1
cameraYaw = 35
cameraPitch = -35
while (1):
spherePos, orn = p.getBasePositionAndOrientation(sphere)
cameraTargetPosition = spherePos
p.resetDebugVisualizerCamera(cameraDistance,cameraYaw,cameraPitch,cameraTargetPosition)
camInfo = p.getDebugVisualizerCamera()
camForward = camInfo[5]
keys = p.getKeyboardEvents()
for k,v in keys.items():
if (k == p.B3G_RIGHT_ARROW and (v&p.KEY_WAS_TRIGGERED)):
turn = -0.5
if (k == p.B3G_RIGHT_ARROW and (v&p.KEY_WAS_RELEASED)):
turn = 0
if (k == p.B3G_LEFT_ARROW and (v&p.KEY_WAS_TRIGGERED)):
turn = 0.5
if (k == p.B3G_LEFT_ARROW and (v&p.KEY_WAS_RELEASED)):
turn = 0
if (k == p.B3G_UP_ARROW and (v&p.KEY_WAS_TRIGGERED)):
forward=1
if (k == p.B3G_UP_ARROW and (v&p.KEY_WAS_RELEASED)):
forward=0
if (k == p.B3G_DOWN_ARROW and (v&p.KEY_WAS_TRIGGERED)):
forward=-1
if (k == p.B3G_DOWN_ARROW and (v&p.KEY_WAS_RELEASED)):
forward=0
force = [forward*camForward[0],forward*camForward[1],0]
cameraYaw = cameraYaw+turn
if (forward):
p.applyExternalForce(sphere,-1, force , spherePos, flags = p.WORLD_FRAME )
p.stepSimulation()
time.sleep(1./240.)