prepare robotics learning examples, see examples/RoboticsLearning/b3RobotSimAPI.h

prepare compliant contact work, urdf loading of parameters (see data/cube.urdf)

data/cube.mtl

@@ -11,4 +11,6 @@ newmtl cube
   Ke 0.0000 0.0000 0.0000
   map_Ka cube.tga
   map_Kd cube.png
+  
+  
 

data/cube.urdf

@@ -0,0 +1,32 @@
+<?xml version="0.0" ?>
+<robot name="cube.urdf">
+  <link name="baseLink">
+    <contact>
+      <lateral_friction value="1.0"/>
+      <rolling_friction value="0.0"/>
+      <contact_cfm value="0.0"/>
+      <contact_erp value="1.0"/>
+    </contact>
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="1.0"/>
+       <inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
+    </inertial>
+    <visual>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+				<mesh filename="cube.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="1 1 1"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+

data/plane.mtl

@@ -1,11 +1,15 @@
-# Blender MTL File: 'None'
-# Material Count: 1
-
 newmtl Material
-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
+  Ns 10.0000
+  Ni 1.5000
+  d 1.0000
+  Tr 0.0000
+  Tf 1.0000 1.0000 1.0000 
+  illum 2
+  Ka 0.0000 0.0000 0.0000
+  Kd 0.5880 0.5880 0.5880
+  Ks 0.0000 0.0000 0.0000
+  Ke 0.0000 0.0000 0.0000
+  map_Ka cube.tga
+  map_Kd checker_grid.jpg
+  
+  

data/plane.obj

@@ -2,11 +2,17 @@
 # www.blender.org
 mtllib plane.mtl
 o Plane
-v 1.000000 0.000000 -1.000000
-v 1.000000 0.000000 1.000000
-v -1.000000 0.000000 1.000000
-v -1.000000 0.000000 -1.000000
+v 5.000000 -5.000000 0.000000
+v 5.000000 5.000000 0.000000
+v -5.000000 5.000000 0.000000
+v -5.000000  -5.000000 0.000000
+
+vt 1.000000 0.000000
+vt 1.000000 1.000000
+vt 0.000000 1.000000
+vt 0.000000 0.000000
+
 usemtl Material
 s off
-f 1 2 3
-f 1 3 4
+f 1/1 2/2 3/3
+f 1/1 3/3 4/4

data/r2d2.urdf

@@ -79,7 +79,7 @@
         <cylinder length=".1" radius="0.035"/>
       </geometry>
       <material name="black">
-        <color rgba="0 0 0 1"/>
+        <color rgba="0.5 0.5 0.5 1"/>
       </material>
     </visual>
     <collision>

data/sphere2.urdf

@@ -11,6 +11,9 @@
       <geometry>
 				<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>      
       </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+      </material>
     </visual>
     <collision>
       <origin rpy="0 0 0" xyz="0 0 0"/>