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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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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>