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implement specular, URDF non-standard specular part (see sphere2.urdf) and SDF specular support.

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pybullet.changeVisualShape(obUid,linkIndex,specularColor=[R,G,B]) and Bullet C-API b3UpdateVisualShapeSpecularColor
Bug fixes in b3ResourcePath::findResourcePath resolution.
add stadium.sdf and roboschool/models_outdoor/stadium assets https://github.com/openai/roboschool/tree/master/roboschool/models_outdoor/stadium
minor fixes to obj2sdf
This commit is contained in:
Erwin Coumans
2017-06-01 12:32:44 -07:00
parent 439e8c84cf
commit 87293e835c
36 changed files with 78766 additions and 87 deletions
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23154
data/roboschool/models_outdoor/stadium/part0.obj Normal file
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data/roboschool/models_outdoor/stadium/part1.obj Normal file
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data/roboschool/models_outdoor/stadium/part2.obj Normal file
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data/roboschool/models_outdoor/stadium/stadium.mtl Normal file
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@@ -0,0 +1,16 @@
newmtl stadium_white
Ns 96.078431
Ka 0.000000 0.000000 0.000000
Kd 1.000000 1.000000 1.000000
Ks 0.500000 0.500000 0.500000
newmtl stadium_grass
Ka 0.000000 0.000000 0.000000
Kd 0.000000 0.500000 0.000000
Ks 0.000000 0.000000 0.000000
map_Kd stadium_grass.jpg
newmtl stadium_dirt
Ka 0.000000 0.000000 0.000000
Kd 0.600000 0.400000 0.000000
Ks 0.000000 0.000000 0.000000

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data/roboschool/models_outdoor/stadium/stadium.obj Normal file
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data/roboschool/models_outdoor/stadium/stadium_grass.jpg Normal file
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1
data/sphere2.urdf
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@@ -18,6 +18,7 @@
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
<specular rgb="11 1 1"/>
</material>
</visual>
<collision>

108
data/stadium.sdf Normal file
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@@ -0,0 +1,108 @@
<sdf version='1.6'>
<world name='default'>
<gravity>0 0 -9.8</gravity>
<model name='roboschool/models_outdoor/stadium/part0.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d0'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part0.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>1.00000 1.00000 1.000000 1</diffuse>
<specular>0.1 .1 .1 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='roboschool/models_outdoor/stadium/part1.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d1'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision_1'>
<pose frame=''>0 0 -0.5 0 0 0</pose>
<geometry>
<box>
<size>100 100 1</size>
</box>
</geometry>
</collision>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part1.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 1 1 1</ambient>
<diffuse>0.600000 0.400000 0.000000 1</diffuse>
<specular>.5 .5 .5 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
<model name='part2.obj'>
<static>1</static>
<pose frame=''>0 0 0 0 0 0</pose>
<link name='link_d2'>
<inertial>
<mass>0</mass>
<inertia>
<ixx>0.166667</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>0.166667</iyy>
<iyz>0</iyz>
<izz>0.166667</izz>
</inertia>
</inertial>
<visual name='visual'>
<geometry>
<mesh>
<scale>1 1 1</scale>
<uri>roboschool/models_outdoor/stadium/part2.obj</uri>
</mesh>
</geometry>
<material>
<ambient>1 0 0 1</ambient>
<diffuse>0.000000 0.500000 0.000000 1</diffuse>
<specular>0.4 0.4 0.4 1</specular>
<emissive>0 0 0 0</emissive>
</material>
</visual>
</link>
</model>
</world>
</sdf>

27
data/two_cubes.sdf
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@@ -20,7 +20,7 @@
<collision name='collision'>
<geometry>
<plane>
<normal>1 2 3</normal>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
@@ -46,7 +46,7 @@
<cast_shadows>0</cast_shadows>
<geometry>
<plane>
<normal>4 5 6</normal>
<normal>0 0 1</normal>
<size>100 100</size>
</plane>
</geometry>
@@ -102,6 +102,8 @@
</inertial>
<collision name='collision'>
<geometry>
<pose frame=''>0 0 -1 0 0 0</pose>
<box>
<size>1 1 1</size>
</box>
@@ -154,26 +156,7 @@
<izz>0.166667</izz>
</inertia>
</inertial>
<collision name='collision'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<max_contacts>10</max_contacts>
<surface>
<contact>
<ode/>
</contact>
<bounce/>
<friction>
<torsional>
<ode/>
</torsional>
<ode/>
</friction>
</surface>
</collision>
<visual name='visual'>
<geometry>
<mesh>