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Merge branch 'master' of https://github.com/erwincoumans/bullet3

Browse Source
This commit is contained in:
Erwin Coumans
2017-12-26 07:59:07 -08:00
parent 92d92e56aa 712a088303
commit d0561d81b0
668 changed files with 576177 additions and 17311 deletions
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15
.gitignore vendored
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@@ -3,3 +3,18 @@
/build_cmake/
*.pyc
# Python
__pycache__/
*.py[cod]
# Pip
pip-selfcheck.json
*.whl
*.egg
*.egg-info
# Setuptools
/build
/dist
*.eggs

6
.travis.yml
View File

@@ -10,9 +10,15 @@ addons:
packages:
- python3
script:
- echo "CXX="$CXX
- echo "CC="$CC
- if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo apt-get install python3-pip; fi
- if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install -U pip wheel; fi
- if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo pip3 install setuptools; fi
- if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then sudo python3 setup.py install; fi
- if [[ "$TRAVIS_OS_NAME" == "linux" && "$CXX" = "g++" ]]; then python3 examples/pybullet/unittests/unittests.py --verbose; fi
- cmake . -DBUILD_PYBULLET=ON -G"Unix Makefiles" #-DCMAKE_CXX_FLAGS=-Werror
- make -j8
- ctest -j8 --output-on-failure

9
AUTHORS.txt
View File

@@ -2,17 +2,21 @@ Bullet Physics is created by Erwin Coumans with contributions from the following
AMD
Apple
Yunfei Bai
Steve Baker
Gino van den Bergen
Jeff Bingham
Nicola Candussi
Erin Catto
Lawrence Chai
Erwin Coumans
Christer Ericson
Disney Animation
Benjamin Ellenberger
Christer Ericson
Google
Dirk Gregorius
Marcus Hennix
Jasmine Hsu
MBSim Development Team
Takahiro Harada
Simon Hobbs
@@ -20,6 +24,7 @@ John Hsu
Ole Kniemeyer
Jay Lee
Francisco Leon
lunkhound
Vsevolod Klementjev
Phil Knight
John McCutchan
@@ -32,9 +37,9 @@ Russel Smith
Sony
Jakub Stephien
Marten Svanfeldt
Jie Tan
Pierre Terdiman
Steven Thompson
Tamas Umenhoffer
Yunfei Bai
If your name is missing, please send an email to erwin.coumans@gmail.com or file an issue at http://github.com/bulletphysics/bullet3

85
CMakeLists.txt
View File

@@ -15,7 +15,6 @@ IF(COMMAND cmake_policy)
endif(POLICY CMP0042)
ENDIF(COMMAND cmake_policy)
IF (NOT CMAKE_BUILD_TYPE)
# SET(CMAKE_BUILD_TYPE "Debug")
SET(CMAKE_BUILD_TYPE "Release")
@@ -38,6 +37,23 @@ IF (BULLET2_USE_THREAD_LOCKS)
ENDIF (MSVC)
ENDIF (BULLET2_USE_THREAD_LOCKS)
IF(NOT WIN32)
SET(DL ${CMAKE_DL_LIBS})
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
MESSAGE("Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
MESSAGE("Apple")
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
MESSAGE("BSD?")
SET(OSDEF -D_BSD)
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
ENDIF(NOT WIN32)
OPTION(USE_MSVC_INCREMENTAL_LINKING "Use MSVC Incremental Linking" OFF)
OPTION(USE_CUSTOM_VECTOR_MATH "Use custom vectormath library" OFF)
@@ -92,7 +108,7 @@ IF(MSVC)
IF (CMAKE_CL_64)
ADD_DEFINITIONS(-D_WIN64)
ELSE()
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" ON)
OPTION(USE_MSVC_SSE "Use MSVC /arch:sse option" OFF)
option(USE_MSVC_SSE2 "Compile your program with SSE2 instructions" ON)
IF (USE_MSVC_SSE)
@@ -287,32 +303,33 @@ ENDIF()
OPTION(BUILD_BULLET3 "Set when you want to build Bullet 3" ON)
# Optional Python configuration
# builds pybullet automatically if all the requirements are met
SET(PYTHON_VERSION_PYBULLET "2.7" CACHE STRING "Python version pybullet will use.")
SET(Python_ADDITIONAL_VERSIONS 2.7 2.7.3 3 3.0 3.1 3.2 3.3 3.4 3.5 3.6)
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.3" OFF)
IF(EXACT_PYTHON_VERSION)
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
# python library should exactly match that of the interpreter
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
SET(DEFAULT_BUILD_PYBULLET OFF)
IF(PYTHONLIBS_FOUND)
SET(DEFAULT_BUILD_PYBULLET ON)
ENDIF(PYTHONLIBS_FOUND)
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" ${DEFAULT_BUILD_PYBULLET})
# Will not probe environment for Python configuration (which can abort the
# build process) unless you explicitly turn on BUILD_PYBULLET.
OPTION(BUILD_PYBULLET "Set when you want to build pybullet (Python bindings for Bullet)" OFF)
IF(BUILD_PYBULLET)
SET(PYTHON_VERSION_PYBULLET "" CACHE STRING "Python version pybullet will use.")
SET(Python_ADDITIONAL_VERSIONS 3 3.6 3.5 3.4 3.3 3.2 3.1 3.0 2.7 2.7.12 2.7.10 2.7.3 )
SET_PROPERTY(CACHE PYTHON_VERSION_PYBULLET PROPERTY STRINGS ${Python_ADDITIONAL_VERSIONS})
SET(CMAKE_MODULE_PATH ${CMAKE_CURRENT_SOURCE_DIR}/build3/cmake ${CMAKE_MODULE_PATH})
OPTION(EXACT_PYTHON_VERSION "Require Python and match PYTHON_VERSION_PYBULLET exactly, e.g. 2.7.12" OFF)
IF(EXACT_PYTHON_VERSION)
set(EXACT_PYTHON_VERSION_FLAG EXACT REQUIRED)
ENDIF(EXACT_PYTHON_VERSION)
# first find the python interpreter
FIND_PACKAGE(PythonInterp ${PYTHON_VERSION_PYBULLET} ${EXACT_PYTHON_VERSION_FLAG})
# python library should exactly match that of the interpreter
# the following can result in fatal error if you don't have the right python configuration
FIND_PACKAGE(PythonLibs ${PYTHON_VERSION_STRING} EXACT)
ENDIF(BUILD_PYBULLET)
OPTION(BUILD_ENET "Set when you want to build apps with enet UDP networking support" ON)
OPTION(BUILD_CLSOCKET "Set when you want to build apps with enet TCP networking support" ON)
IF(BUILD_PYBULLET)
FIND_PACKAGE(PythonLibs)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" ON)
OPTION(BUILD_PYBULLET_NUMPY "Set when you want to build pybullet with NumPy support" OFF)
OPTION(BUILD_PYBULLET_ENET "Set when you want to build pybullet with enet UDP networking support" ON)
OPTION(BUILD_PYBULLET_CLSOCKET "Set when you want to build pybullet with enet TCP networking support" ON)
@@ -392,7 +409,6 @@ IF(BUILD_EXTRAS)
ENDIF(BUILD_EXTRAS)
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com
SUBDIRS(src)
@@ -407,7 +423,15 @@ ELSE()
ENDIF()
ENDIF()
IF(INSTALL_LIBS)
#INSTALL of other files requires CMake 2.6
IF(BUILD_EXTRAS)
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" ON)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
ENDIF(BUILD_EXTRAS)
SET (LIB_SUFFIX "" CACHE STRING "Define suffix of directory name (32/64)" )
SET (LIB_DESTINATION "lib${LIB_SUFFIX}" CACHE STRING "Library directory name")
## the following are directories where stuff will be installed to
@@ -421,12 +445,8 @@ IF(INSTALL_LIBS)
DESTINATION
${PKGCONFIG_INSTALL_PREFIX})
ENDIF(NOT MSVC)
ENDIF(INSTALL_LIBS)
ENDIF()
#INSTALL of other files requires CMake 2.6
IF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(INSTALL_EXTRA_LIBS "Set when you want extra libraries installed" OFF)
ENDIF (${CMAKE_MAJOR_VERSION}.${CMAKE_MINOR_VERSION} GREATER 2.5)
OPTION(BUILD_UNIT_TESTS "Build Unit Tests" ON)
@@ -437,9 +457,8 @@ ENDIF()
set (BULLET_CONFIG_CMAKE_PATH lib${LIB_SUFFIX}/cmake/bullet )
list (APPEND BULLET_LIBRARIES LinearMath)
IF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
ENDIF(BUILD_BULLET3)
list (APPEND BULLET_LIBRARIES Bullet3Common)
list (APPEND BULLET_LIBRARIES BulletInverseDynamics)
list (APPEND BULLET_LIBRARIES BulletCollision)
list (APPEND BULLET_LIBRARIES BulletDynamics)
list (APPEND BULLET_LIBRARIES BulletSoftBody)
@@ -448,7 +467,11 @@ configure_file ( ${CMAKE_CURRENT_SOURCE_DIR}/BulletConfig.cmake.in
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
@ONLY ESCAPE_QUOTES
)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
OPTION(INSTALL_CMAKE_FILES "Install generated CMake files" ON)
IF (INSTALL_CMAKE_FILES)
install ( FILES ${CMAKE_CURRENT_SOURCE_DIR}/UseBullet.cmake
${CMAKE_CURRENT_BINARY_DIR}/BulletConfig.cmake
DESTINATION ${BULLET_CONFIG_CMAKE_PATH}
)
ENDIF (INSTALL_CMAKE_FILES)

191
Extras/BulletRobotics/CMakeLists.txt Normal file
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@@ -0,0 +1,191 @@
INCLUDE_DIRECTORIES(
${BULLET_PHYSICS_SOURCE_DIR}/src
${BULLET_PHYSICS_SOURCE_DIR}/examples
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/enet/include
${BULLET_PHYSICS_SOURCE_DIR}/examples/ThirdPartyLibs/clsocket/src
)
SET(BulletRobotics_SRCS
../../examples/SharedMemory/IKTrajectoryHelper.cpp
../../examples/SharedMemory/IKTrajectoryHelper.h
../../examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
../../examples/SharedMemory/TinyRendererVisualShapeConverter.h
../../examples/OpenGLWindow/SimpleCamera.cpp
../../examples/OpenGLWindow/SimpleCamera.h
../../examples/TinyRenderer/geometry.cpp
../../examples/TinyRenderer/model.cpp
../../examples/TinyRenderer/tgaimage.cpp
../../examples/TinyRenderer/our_gl.cpp
../../examples/TinyRenderer/TinyRenderer.cpp
../../examples/SharedMemory/InProcessMemory.cpp
../../examples/SharedMemory/PhysicsClient.cpp
../../examples/SharedMemory/PhysicsClient.h
../../examples/SharedMemory/PhysicsServer.cpp
../../examples/SharedMemory/PhysicsServer.h
../../examples/SharedMemory/PhysicsServerSharedMemory.cpp
../../examples/SharedMemory/PhysicsServerSharedMemory.h
../../examples/SharedMemory/PhysicsDirect.cpp
../../examples/SharedMemory/PhysicsDirect.h
../../examples/SharedMemory/PhysicsDirectC_API.cpp
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsServerCommandProcessor.cpp
../../examples/SharedMemory/PhysicsServerCommandProcessor.h
../../examples/SharedMemory/b3PluginManager.cpp
../../examples/SharedMemory/b3PluginManager.h
../../examples/SharedMemory/PhysicsClientSharedMemory.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.cpp
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientC_API.cpp
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
../../examples/SharedMemory/Win32SharedMemory.cpp
../../examples/SharedMemory/Win32SharedMemory.h
../../examples/SharedMemory/PosixSharedMemory.cpp
../../examples/SharedMemory/PosixSharedMemory.h
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ResourcePath.h
../../examples/Utils/RobotLoggingUtil.cpp
../../examples/Utils/RobotLoggingUtil.h
../../examples/Utils/b3Clock.cpp
../../examples/Utils/b3ResourcePath.cpp
../../examples/Utils/b3ERPCFMHelper.hpp
../../examples/Utils/b3ReferenceFrameHelper.hpp
../../examples/Utils/ChromeTraceUtil.cpp
../../examples/ThirdPartyLibs/tinyxml/tinystr.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxml.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlerror.cpp
../../examples/ThirdPartyLibs/tinyxml/tinyxmlparser.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.cpp
../../examples/ThirdPartyLibs/Wavefront/tiny_obj_loader.h
../../examples/ThirdPartyLibs/stb_image/stb_image.cpp
../../examples/ThirdPartyLibs/BussIK/Jacobian.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR2.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR3.cpp
../../examples/ThirdPartyLibs/BussIK/LinearR4.cpp
../../examples/ThirdPartyLibs/BussIK/MatrixRmn.cpp
../../examples/ThirdPartyLibs/BussIK/Misc.cpp
../../examples/ThirdPartyLibs/BussIK/Node.cpp
../../examples/ThirdPartyLibs/BussIK/Tree.cpp
../../examples/ThirdPartyLibs/BussIK/VectorRn.cpp
../../examples/Importers/ImportColladaDemo/LoadMeshFromCollada.cpp
../../examples/Importers/ImportObjDemo/LoadMeshFromObj.cpp
../../examples/Importers/ImportObjDemo/Wavefront2GLInstanceGraphicsShape.cpp
../../examples/Importers/ImportMJCFDemo/BulletMJCFImporter.cpp
../../examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
../../examples/Importers/ImportURDFDemo/MyMultiBodyCreator.cpp
../../examples/Importers/ImportURDFDemo/URDF2Bullet.cpp
../../examples/Importers/ImportURDFDemo/UrdfParser.cpp
../../examples/Importers/ImportURDFDemo/urdfStringSplit.cpp
../../examples/Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../../examples/MultiThreading/b3PosixThreadSupport.cpp
../../examples/MultiThreading/b3Win32ThreadSupport.cpp
../../examples/MultiThreading/b3ThreadSupportInterface.cpp
)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DBT_ENABLE_CLSOCKET)
ENDIF(BUILD_CLSOCKET)
IF(WIN32)
LINK_LIBRARIES(
${OPENGL_gl_LIBRARY} ${OPENGL_glu_LIBRARY}
)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DWIN32 -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(-DWIN32)
ENDIF(BUILD_CLSOCKET)
ELSE(WIN32)
IF(BUILD_ENET)
ADD_DEFINITIONS(-DHAS_SOCKLEN_T -DBT_ENABLE_ENET)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
ADD_DEFINITIONS(${OSDEF})
ENDIF(BUILD_CLSOCKET)
ENDIF(WIN32)
IF(BUILD_ENET)
set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
../../examples/SharedMemory/PhysicsClientUDP.cpp
../../examples/SharedMemory/PhysicsClientUDP_C_API.cpp
../../examples/SharedMemory/PhysicsClientUDP.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/ThirdPartyLibs/enet/win32.c
../../examples/ThirdPartyLibs/enet/unix.c
../../examples/ThirdPartyLibs/enet/callbacks.c
../../examples/ThirdPartyLibs/enet/compress.c
../../examples/ThirdPartyLibs/enet/host.c
../../examples/ThirdPartyLibs/enet/list.c
../../examples/ThirdPartyLibs/enet/packet.c
../../examples/ThirdPartyLibs/enet/peer.c
../../examples/ThirdPartyLibs/enet/protocol.c
)
ENDIF(BUILD_ENET)
IF(BUILD_CLSOCKET)
set(BulletRobotics_SRCS ${BulletRobotics_SRCS}
../../examples/SharedMemory/PhysicsClientTCP.cpp
../../examples/SharedMemory/PhysicsClientTCP.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.cpp
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/ThirdPartyLibs/clsocket/src/SimpleSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/ActiveSocket.cpp
../../examples/ThirdPartyLibs/clsocket/src/PassiveSocket.cpp
)
ENDIF()
ADD_DEFINITIONS(-DPHYSICS_SERVER_DIRECT)
ADD_LIBRARY(BulletRobotics ${BulletRobotics_SRCS})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES VERSION ${BULLET_VERSION})
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES SOVERSION ${BULLET_VERSION})
IF (BUILD_SHARED_LIBS)
TARGET_LINK_LIBRARIES(BulletRobotics BulletInverseDynamicsUtils BulletWorldImporter BulletFileLoader BulletSoftBody BulletDynamics BulletCollision BulletInverseDynamics LinearMath Bullet3Common)
ENDIF (BUILD_SHARED_LIBS)
IF (INSTALL_EXTRA_LIBS)
INSTALL(FILES
../../examples/SharedMemory/PhysicsClientC_API.h
../../examples/SharedMemory/PhysicsClientSharedMemory_C_API.h
../../examples/SharedMemory/PhysicsClientSharedMemory2_C_API.h
../../examples/SharedMemory/PhysicsDirectC_API.h
../../examples/SharedMemory/PhysicsClientUDP_C_API.h
../../examples/SharedMemory/PhysicsClientTCP_C_API.h
../../examples/SharedMemory/SharedMemoryInProcessPhysicsC_API.h
../../examples/SharedMemory/SharedMemoryPublic.h
DESTINATION include/bullet
)
INSTALL(TARGETS
BulletRobotics
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX}
)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES FRAMEWORK true)
SET_TARGET_PROPERTIES(BulletRobotics PROPERTIES PUBLIC_HEADER "PhysicsClientC_API.h" )
ENDIF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
ENDIF (INSTALL_EXTRA_LIBS)

6
Extras/CMakeLists.txt
View File

@@ -1,8 +1,6 @@
SUBDIRS( obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
SUBDIRS( InverseDynamics BulletRobotics obj2sdf Serialize ConvexDecomposition HACD GIMPACTUtils )
IF(BUILD_BULLET3)
SUBDIRS( InverseDynamics)
ENDIF()
#Maya Dynamica plugin is moved to http://dynamica.googlecode.com

5
Extras/ConvexDecomposition/CMakeLists.txt
View File

@@ -49,7 +49,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS ConvexDecomposition DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS ConvexDecomposition DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS ConvexDecomposition
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

5
Extras/GIMPACTUtils/CMakeLists.txt
View File

@@ -22,7 +22,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS GIMPACTUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS GIMPACTUtils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

6
Extras/HACD/CMakeLists.txt
View File

@@ -36,7 +36,11 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS HACD DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS HACD
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN "*.inl" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

5
Extras/InverseDynamics/CMakeLists.txt
View File

@@ -32,7 +32,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletInverseDynamicsUtils DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletInverseDynamicsUtils
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

4
Extras/InverseDynamics/btMultiBodyTreeCreator.cpp
View File

@@ -27,7 +27,9 @@ int btMultiBodyTreeCreator::createFromBtMultiBody(const btMultiBody *btmb, const
} else {
link.joint_type = FLOATING;
}
btTransform transform(btmb->getBaseWorldTransform());
btTransform transform=(btmb->getBaseWorldTransform());
//compute inverse dynamics in body-fixed frame
transform.setIdentity();
link.parent_r_parent_body_ref(0) = transform.getOrigin()[0];
link.parent_r_parent_body_ref(1) = transform.getOrigin()[1];

5
Extras/Serialize/BulletFileLoader/CMakeLists.txt
View File

@@ -34,7 +34,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletFileLoader DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletFileLoader DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletFileLoader
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(
DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN

24
Extras/Serialize/BulletFileLoader/autogenerated/bullet.h
View File

@@ -110,6 +110,8 @@ typedef struct bInvalidHandle {
class btMultiBodyLinkFloatData;
class btMultiBodyDoubleData;
class btMultiBodyFloatData;
class btMultiBodyLinkColliderFloatData;
class btMultiBodyLinkColliderDoubleData;
// -------------------------------------------------- //
class PointerArray
{
@@ -1440,5 +1442,27 @@ typedef struct bInvalidHandle {
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderFloatData
{
public:
btCollisionObjectFloatData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
// -------------------------------------------------- //
class btMultiBodyLinkColliderDoubleData
{
public:
btCollisionObjectDoubleData m_colObjData;
void *m_multiBody;
int m_link;
char m_padding[4];
};
}
#endif//__BULLET_H__

8
Extras/Serialize/BulletFileLoader/btBulletFile.cpp
View File

@@ -128,6 +128,9 @@ void btBulletFile::parseData()
mDataStart = 12;
remain-=12;
//invalid/empty file?
if (remain < sizeof(bChunkInd))
return;
char *dataPtr = mFileBuffer+mDataStart;
@@ -178,6 +181,11 @@ void btBulletFile::parseData()
m_multiBodies.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_MB_LINKCOLLIDER_CODE)
{
m_multiBodyLinkColliders.push_back((bStructHandle*)id);
}
if (dataChunk.code == BT_SOFTBODY_CODE)
{
m_softBodies.push_back((bStructHandle*) id);

2
Extras/Serialize/BulletFileLoader/btBulletFile.h
View File

@@ -41,6 +41,8 @@ namespace bParse {
btAlignedObjectArray<bStructHandle*> m_multiBodies;
btAlignedObjectArray<bStructHandle*> m_multiBodyLinkColliders;
btAlignedObjectArray<bStructHandle*> m_softBodies;
btAlignedObjectArray<bStructHandle*> m_rigidBodies;

6
Extras/Serialize/BulletWorldImporter/CMakeLists.txt
View File

@@ -5,6 +5,7 @@ INCLUDE_DIRECTORIES(
ADD_LIBRARY(
BulletWorldImporter
btMultiBodyWorldImporter.cpp
btBulletWorldImporter.cpp
btBulletWorldImporter.h
btWorldImporter.cpp
@@ -25,7 +26,10 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletWorldImporter DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletWorldImporter DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletWorldImporter
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

204
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp Normal file
View File

@@ -0,0 +1,204 @@
#include "btMultiBodyWorldImporter.h"
#include "LinearMath/btSerializer.h"
#include "../BulletFileLoader/btBulletFile.h"
#include "btBulletWorldImporter.h"
#include "btBulletDynamicsCommon.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyDynamicsWorld.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
struct btMultiBodyWorldImporterInternalData
{
btMultiBodyDynamicsWorld* m_mbDynamicsWorld;
btHashMap<btHashPtr, btMultiBody*> m_mbMap;
};
btMultiBodyWorldImporter::btMultiBodyWorldImporter(btMultiBodyDynamicsWorld* world)
:btBulletWorldImporter(world)
{
m_data = new btMultiBodyWorldImporterInternalData;
m_data->m_mbDynamicsWorld = world;
}
btMultiBodyWorldImporter::~btMultiBodyWorldImporter()
{
delete m_data;
}
void btMultiBodyWorldImporter::deleteAllData()
{
btBulletWorldImporter::deleteAllData();
}
bool btMultiBodyWorldImporter::convertAllObjects( bParse::btBulletFile* bulletFile2)
{
bool result = btBulletWorldImporter::convertAllObjects(bulletFile2);
//convert all multibodies
for (int i=0;i<bulletFile2->m_multiBodies.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyDoubleData* mbd = (btMultiBodyDoubleData*) bulletFile2->m_multiBodies[i];
bool isFixedBase = mbd->m_baseMass==0;
bool canSleep = false;
btVector3 baseInertia;
baseInertia.deSerializeDouble(mbd->m_baseInertia);
btMultiBody* mb = new btMultiBody(mbd->m_numLinks,mbd->m_baseMass,baseInertia,isFixedBase,canSleep);
mb->setHasSelfCollision(false);
m_data->m_mbMap.insert(mbd,mb);
for (int i=0;i<mbd->m_numLinks;i++)
{
btVector3 localInertiaDiagonal;
localInertiaDiagonal.deSerializeDouble(mbd->m_links[i].m_linkInertia);
btQuaternion parentRotToThis;
parentRotToThis.deSerializeDouble(mbd->m_links[i].m_zeroRotParentToThis);
btVector3 parentComToThisPivotOffset;
parentComToThisPivotOffset.deSerializeDouble(mbd->m_links[i].m_parentComToThisComOffset);
btVector3 thisPivotToThisComOffset;
thisPivotToThisComOffset.deSerializeDouble(mbd->m_links[i].m_thisPivotToThisComOffset);
switch (mbd->m_links[i].m_jointType)
{
case btMultibodyLink::eFixed:
{
mb->setupFixed(i, mbd->m_links[i].m_linkMass, localInertiaDiagonal, mbd->m_links[i].m_parentIndex,
parentRotToThis, parentComToThisPivotOffset,thisPivotToThisComOffset);
//search for the collider
//mbd->m_links[i].m_linkCollider
break;
}
case btMultibodyLink::ePrismatic:
{
btVector3 jointAxis;
jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisBottom[0]);
bool disableParentCollision = true;//todo
mb->setupPrismatic(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis,jointAxis, parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::eRevolute:
{
btVector3 jointAxis;
jointAxis.deSerializeDouble(mbd->m_links[i].m_jointAxisTop[0]);
bool disableParentCollision = true;//todo
mb->setupRevolute(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis, jointAxis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::eSpherical:
{
btAssert(0);
bool disableParentCollision = true;//todo
mb->setupSpherical(i,mbd->m_links[i].m_linkMass,localInertiaDiagonal,mbd->m_links[i].m_parentIndex,
parentRotToThis,parentComToThisPivotOffset,thisPivotToThisComOffset,disableParentCollision);
break;
}
case btMultibodyLink::ePlanar:
{
btAssert(0);
break;
}
default:
{
btAssert(0);
}
}
}
}
}
//convert all multibody link colliders
for (int i=0;i<bulletFile2->m_multiBodyLinkColliders.size();i++)
{
if (bulletFile2->getFlags() & bParse::FD_DOUBLE_PRECISION)
{
btMultiBodyLinkColliderDoubleData* mblcd = (btMultiBodyLinkColliderDoubleData*) bulletFile2->m_multiBodyLinkColliders[i];
btMultiBody** ptr = m_data->m_mbMap[mblcd->m_multiBody];
if (ptr)
{
btMultiBody* multiBody = *ptr;
btCollisionShape** shapePtr = m_shapeMap.find(mblcd->m_colObjData.m_collisionShape);
if (shapePtr && *shapePtr)
{
btTransform startTransform;
mblcd->m_colObjData.m_worldTransform.m_origin.m_floats[3] = 0.f;
startTransform.deSerializeDouble(mblcd->m_colObjData.m_worldTransform);
btCollisionShape* shape = (btCollisionShape*)*shapePtr;
if (shape)
{
btMultiBodyLinkCollider* col = new btMultiBodyLinkCollider(multiBody, mblcd->m_link);
col->setCollisionShape( shape );
//btCollisionObject* body = createCollisionObject(startTransform,shape,mblcd->m_colObjData.m_name);
col->setFriction(btScalar(mblcd->m_colObjData.m_friction));
col->setRestitution(btScalar(mblcd->m_colObjData.m_restitution));
//m_bodyMap.insert(colObjData,body);
if (mblcd->m_link==-1)
{
multiBody->setBaseCollider(col);
} else
{
multiBody->getLink(mblcd->m_link).m_collider = col;
}
int mbLinkIndex = mblcd->m_link;
bool isDynamic = (mbLinkIndex<0 && multiBody->hasFixedBase())? false : true;
int collisionFilterGroup = isDynamic? int(btBroadphaseProxy::DefaultFilter) : int(btBroadphaseProxy::StaticFilter);
int collisionFilterMask = isDynamic? int(btBroadphaseProxy::AllFilter) : int(btBroadphaseProxy::AllFilter ^ btBroadphaseProxy::StaticFilter);
#if 0
int colGroup=0, colMask=0;
int collisionFlags = mblcd->m_colObjData.m_collisionFlags;
if (collisionFlags & URDF_HAS_COLLISION_GROUP)
{
collisionFilterGroup = colGroup;
}
if (collisionFlags & URDF_HAS_COLLISION_MASK)
{
collisionFilterMask = colMask;
}
#endif
m_data->m_mbDynamicsWorld->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
}
} else
{
printf("error: no shape found\n");
}
#if 0
//base and fixed? -> static, otherwise flag as dynamic
world1->addCollisionObject(col,collisionFilterGroup,collisionFilterMask);
#endif
}
}
}
for (int i=0;i<m_data->m_mbMap.size();i++)
{
btMultiBody**ptr = m_data->m_mbMap.getAtIndex(i);
if (ptr)
{
btMultiBody* mb = *ptr;
mb->finalizeMultiDof();
m_data->m_mbDynamicsWorld->addMultiBody(mb);
}
}
return result;
}

20
Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.h Normal file
View File

@@ -0,0 +1,20 @@
#ifndef BT_MULTIBODY_WORLD_IMPORTER_H
#define BT_MULTIBODY_WORLD_IMPORTER_H
#include "../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.h"
class btMultiBodyWorldImporter : public btBulletWorldImporter
{
struct btMultiBodyWorldImporterInternalData* m_data;
public:
btMultiBodyWorldImporter(class btMultiBodyDynamicsWorld* world);
virtual ~btMultiBodyWorldImporter();
virtual bool convertAllObjects( bParse::btBulletFile* bulletFile2);
virtual void deleteAllData();
};
#endif //BT_MULTIBODY_WORLD_IMPORTER_H

6
Extras/Serialize/BulletXmlWorldImporter/CMakeLists.txt
View File

@@ -32,7 +32,11 @@ IF (INSTALL_EXTRA_LIBS)
IF (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletXmlWorldImporter DESTINATION .)
ELSE (APPLE AND BUILD_SHARED_LIBS AND FRAMEWORK)
INSTALL(TARGETS BulletXmlWorldImporter DESTINATION lib${LIB_SUFFIX})
INSTALL(TARGETS BulletXmlWorldImporter
RUNTIME DESTINATION bin
LIBRARY DESTINATION lib${LIB_SUFFIX}
ARCHIVE DESTINATION lib${LIB_SUFFIX})
INSTALL(DIRECTORY ${CMAKE_CURRENT_SOURCE_DIR}
DESTINATION ${INCLUDE_INSTALL_DIR} FILES_MATCHING PATTERN "*.h" PATTERN
".svn" EXCLUDE PATTERN "CMakeFiles" EXCLUDE)

2
Extras/Serialize/makesdna/makesdna.cpp
View File

@@ -149,6 +149,7 @@ typedef unsigned __int64 uint64_t;
#include "BulletDynamics/Dynamics/btRigidBody.h"
#include "BulletSoftBody/btSoftBodyData.h"
#include "BulletDynamics/Featherstone/btMultiBody.h"
#include "BulletDynamics/Featherstone/btMultiBodyLinkCollider.h"
#ifdef HAVE_CONFIG_H
#include <config.h>
@@ -198,6 +199,7 @@ char *includefiles[] = {
"../../../src/BulletSoftBody/btSoftBodyData.h",
"../../../src/BulletDynamics/Featherstone/btMultiBody.h",
"../../../src/BulletDynamics/Featherstone/btMultiBodyLinkCollider.h",
// empty string to indicate end of includefiles
""
};

17
Extras/VHACD/test/src/main.cpp
View File

@@ -38,6 +38,14 @@
using namespace VHACD;
using namespace std;
bool replace(std::string& str, const std::string& from, const std::string& to) {
size_t start_pos = str.find(from);
if(start_pos == std::string::npos)
return false;
str.replace(start_pos, from.length(), to);
return true;
}
class MyCallback : public IVHACD::IUserCallback {
public:
MyCallback(void) {}
@@ -293,7 +301,16 @@ void ParseParameters(int argc, char* argv[], Parameters& params)
for (int i = 1; i < argc; ++i) {
if (!strcmp(argv[i], "--input")) {
if (++i < argc)
{
params.m_fileNameIn = argv[i];
//come up with some default output name, if not provided
if (params.m_fileNameOut.length()==0)
{
string tmp = argv[i];
replace(tmp,".obj",".vhacd.obj");
params.m_fileNameOut = tmp;
}
}
}
else if (!strcmp(argv[i], "--output")) {
if (++i < argc)

474
Extras/obj2sdf/obj2sdf.cpp
View File

@@ -13,6 +13,22 @@
#include "Bullet3Common/b3FileUtils.h"
#include "../Utils/b3ResourcePath.h"
#include "Bullet3Common/b3CommandLineArgs.h"
#include "Bullet3Common/b3HashMap.h"
struct ShapeContainer
{
std::string m_matName;
std::string m_shapeName;
tinyobj::material_t material;
std::vector<float> positions;
std::vector<float> normals;
std::vector<float> texcoords;
std::vector<unsigned int> indices;
b3AlignedObjectArray<int> m_shapeIndices;
};
b3HashMap<b3HashString, ShapeContainer> gMaterialNames;
#define MAX_PATH_LEN 1024
@@ -53,6 +69,8 @@ int main(int argc, char* argv[])
printf("Please use --fileName=\"pathToObj\".");
exit(0);
}
bool mergeMaterials = args.CheckCmdLineFlag("mergeMaterials");
char fileNameWithPath[MAX_PATH_LEN];
bool fileFound = (b3ResourcePath::findResourcePath(fileName,fileNameWithPath,MAX_PATH_LEN))>0;
char materialPrefixPath[MAX_PATH_LEN];
@@ -72,141 +90,359 @@ int main(int argc, char* argv[])
fprintf(sdfFile, "<sdf version='1.6'>\n\t<world name='default'>\n\t<gravity>0 0 -9.8</gravity>\n");
for (int s=0;s<(int)shapes.size();s++)
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
if (shape.name.length())
{
printf("object name = %s\n", shape.name.c_str());
}
char objFileName[MAX_PATH_LEN];
if (strlen(materialPrefixPath)>0)
{
sprintf(objFileName,"%s/part%d.obj",materialPrefixPath,s);
} else
{
sprintf(objFileName,"part%d.obj",s);
}
FILE* f = fopen(objFileName,"w");
if (f==0)
{
printf("Fatal error: cannot create part obj file %s\n",objFileName);
exit(0);
}
fprintf(f,"# Exported using automatic converter by Erwin Coumans\n");
if (matLibName.length())
{
fprintf(f,"mtllib %s.mtl\n", matLibName.c_str());
} else
{
fprintf(f,"mtllib bedroom.mtl\n");
}
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
tinyobj::material_t mat = shape.material;
if (shape.name.length())
{
const char* objName = shape.name.c_str();
printf("mat.name = %s\n", objName);
fprintf(f,"#object %s\n\n",objName);
}
for (int v=0;v<vertexCount/3;v++)
{
fprintf(f,"v %f %f %f\n",shape.mesh.positions[v*3+0],shape.mesh.positions[v*3+1],shape.mesh.positions[v*3+2]);
}
if (mat.name.length())
b3HashString key = mat.name.length() ? mat.name.c_str() : "";
if (!gMaterialNames.find(key))
{
fprintf(f,"usemtl %s\n",mat.name.c_str());
} else
{
fprintf(f,"usemtl wire_028089177\n");
ShapeContainer container;
container.m_matName = mat.name;
container.m_shapeName = shape.name;
container.material = mat;
gMaterialNames.insert(key, container);
}
fprintf(f,"\n");
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0;vn<numNormals/3;vn++)
ShapeContainer* shapeC = gMaterialNames.find(key);
if (shapeC)
{
fprintf(f,"vn %f %f %f\n",shape.mesh.normals[vn*3+0],shape.mesh.normals[vn*3+1],shape.mesh.normals[vn*3+2]);
}
shapeC->m_shapeIndices.push_back(s);
int curPositions = shapeC->positions.size()/3;
int curNormals = shapeC->normals.size()/3;
int curTexcoords = shapeC->texcoords.size()/2;
fprintf(f,"\n");
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0;vt<numTexCoords/2;vt++)
{
fprintf(f,"vt %f %f\n",shape.mesh.texcoords[vt*2+0],shape.mesh.texcoords[vt*2+1]);
}
fprintf(f,"s off\n");
for (int face=0;face<faceCount;face+=3)
{
if (face<0 && face>=int(shape.mesh.indices.size()))
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
for (int v = 0; v < vertexCount; v++)
{
continue;
shapeC->positions.push_back(shape.mesh.positions[v]);
}
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0; vn < numNormals; vn++)
{
shapeC->normals.push_back(shape.mesh.normals[vn]);
}
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0; vt < numTexCoords; vt++)
{
shapeC->texcoords.push_back(shape.mesh.texcoords[vt]);
}
for (int face = 0; face < faceCount; face += 3)
{
if (face < 0 && face >= int(shape.mesh.indices.size()))
{
continue;
}
shapeC->indices.push_back(shape.mesh.indices[face] + curPositions);
shapeC->indices.push_back(shape.mesh.indices[face+1] + curPositions);
shapeC->indices.push_back(shape.mesh.indices[face + 2] + curPositions);
}
fprintf(f,"f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,shape.mesh.indices[face]+1,
shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,shape.mesh.indices[face+1]+1,
shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1,shape.mesh.indices[face+2]+1);
}
fclose(f);
}
printf("unique materials=%d\n", gMaterialNames.size());
float kdRed=mat.diffuse[0];
float kdGreen=mat.diffuse[1];
float kdBlue=mat.diffuse[2];
if (mergeMaterials)
{
for (int m = 0; m < gMaterialNames.size();m++)
{
if (gMaterialNames.getAtIndex(m)->m_shapeIndices.size() == 0)
continue;
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName,"part%d.obj",s);
fprintf(sdfFile,"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f 1</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n",objSdfPartFileName,s,s,
objSdfPartFileName,objSdfPartFileName,
kdRed, kdGreen, kdBlue);
ShapeContainer* shapeCon =gMaterialNames.getAtIndex(m);
printf("object name = %s\n", shapeCon->m_shapeName.c_str());
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName, "part%d.obj", m);
char objFileName[MAX_PATH_LEN];
if (strlen(materialPrefixPath) > 0)
{
sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, m);
}
else
{
sprintf(objFileName, "part%d.obj", m);
}
FILE* f = fopen(objFileName, "w");
if (f == 0)
{
printf("Fatal error: cannot create part obj file %s\n", objFileName);
exit(0);
}
fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
if (matLibName.length())
{
fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
}
else
{
fprintf(f, "mtllib bedroom.mtl\n");
}
int faceCount = shapeCon->indices.size();
int vertexCount = shapeCon->positions.size();
tinyobj::material_t mat = shapeCon->material;
if (shapeCon->m_matName.length())
{
const char* objName = shapeCon->m_matName.c_str();
printf("mat.name = %s\n", objName);
fprintf(f, "#object %s\n\n", objName);
}
for (int v = 0; v < vertexCount / 3; v++)
{
fprintf(f, "v %f %f %f\n", shapeCon->positions[v * 3 + 0], shapeCon->positions[v * 3 + 1], shapeCon->positions[v * 3 + 2]);
}
if (mat.name.length())
{
fprintf(f, "usemtl %s\n", mat.name.c_str());
}
else
{
fprintf(f, "usemtl wire_028089177\n");
}
fprintf(f, "\n");
int numNormals = int(shapeCon->normals.size());
for (int vn = 0; vn < numNormals / 3; vn++)
{
fprintf(f, "vn %f %f %f\n", shapeCon->normals[vn * 3 + 0], shapeCon->normals[vn * 3 + 1], shapeCon->normals[vn * 3 + 2]);
}
fprintf(f, "\n");
int numTexCoords = int(shapeCon->texcoords.size());
for (int vt = 0; vt < numTexCoords / 2; vt++)
{
fprintf(f, "vt %f %f\n", shapeCon->texcoords[vt * 2 + 0], shapeCon->texcoords[vt * 2 + 1]);
}
fprintf(f, "s off\n");
for (int face = 0; face < faceCount; face += 3)
{
if (face < 0 && face >= int(shapeCon->indices.size()))
{
continue;
}
fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shapeCon->indices[face] + 1, shapeCon->indices[face] + 1, shapeCon->indices[face] + 1,
shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1, shapeCon->indices[face + 1] + 1,
shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1, shapeCon->indices[face + 2] + 1);
}
fclose(f);
float kdRed = mat.diffuse[0];
float kdGreen = mat.diffuse[1];
float kdBlue = mat.diffuse[2];
float transparency = mat.transparency;
fprintf(sdfFile, "\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision concave='yes' name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n", objSdfPartFileName, m, m,
objSdfPartFileName, objSdfPartFileName,
kdRed, kdGreen, kdBlue, transparency);
}
}
else
{
for (int s = 0; s < (int)shapes.size(); s++)
{
tinyobj::shape_t& shape = shapes[s];
if (shape.name.length())
{
printf("object name = %s\n", shape.name.c_str());
}
char objFileName[MAX_PATH_LEN];
if (strlen(materialPrefixPath) > 0)
{
sprintf(objFileName, "%s/part%d.obj", materialPrefixPath, s);
}
else
{
sprintf(objFileName, "part%d.obj", s);
}
FILE* f = fopen(objFileName, "w");
if (f == 0)
{
printf("Fatal error: cannot create part obj file %s\n", objFileName);
exit(0);
}
fprintf(f, "# Exported using automatic converter by Erwin Coumans\n");
if (matLibName.length())
{
fprintf(f, "mtllib %s.mtl\n", matLibName.c_str());
}
else
{
fprintf(f, "mtllib bedroom.mtl\n");
}
int faceCount = shape.mesh.indices.size();
int vertexCount = shape.mesh.positions.size();
tinyobj::material_t mat = shape.material;
if (shape.name.length())
{
const char* objName = shape.name.c_str();
printf("mat.name = %s\n", objName);
fprintf(f, "#object %s\n\n", objName);
}
for (int v = 0; v < vertexCount / 3; v++)
{
fprintf(f, "v %f %f %f\n", shape.mesh.positions[v * 3 + 0], shape.mesh.positions[v * 3 + 1], shape.mesh.positions[v * 3 + 2]);
}
if (mat.name.length())
{
fprintf(f, "usemtl %s\n", mat.name.c_str());
}
else
{
fprintf(f, "usemtl wire_028089177\n");
}
fprintf(f, "\n");
int numNormals = int(shape.mesh.normals.size());
for (int vn = 0; vn < numNormals / 3; vn++)
{
fprintf(f, "vn %f %f %f\n", shape.mesh.normals[vn * 3 + 0], shape.mesh.normals[vn * 3 + 1], shape.mesh.normals[vn * 3 + 2]);
}
fprintf(f, "\n");
int numTexCoords = int(shape.mesh.texcoords.size());
for (int vt = 0; vt < numTexCoords / 2; vt++)
{
fprintf(f, "vt %f %f\n", shape.mesh.texcoords[vt * 2 + 0], shape.mesh.texcoords[vt * 2 + 1]);
}
fprintf(f, "s off\n");
for (int face = 0; face < faceCount; face += 3)
{
if (face < 0 && face >= int(shape.mesh.indices.size()))
{
continue;
}
fprintf(f, "f %d/%d/%d %d/%d/%d %d/%d/%d\n",
shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1, shape.mesh.indices[face] + 1,
shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1, shape.mesh.indices[face + 1] + 1,
shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1, shape.mesh.indices[face + 2] + 1);
}
fclose(f);
float kdRed = mat.diffuse[0];
float kdGreen = mat.diffuse[1];
float kdBlue = mat.diffuse[2];
float transparency = mat.transparency;
char objSdfPartFileName[MAX_PATH_LEN];
sprintf(objSdfPartFileName, "part%d.obj", s);
fprintf(sdfFile, "\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
"\t\t\t<inertia>\n"
"\t\t\t<ixx>0.166667</ixx>\n"
"\t\t\t<ixy>0</ixy>\n"
"\t\t\t<ixz>0</ixz>\n"
"\t\t\t<iyy>0.166667</iyy>\n"
"\t\t\t<iyz>0</iyz>\n"
"\t\t\t<izz>0.166667</izz>\n"
"\t\t\t</inertia>\n"
"\t\t\t</inertial>\n"
"\t\t\t<collision name='collision_%d'>\n"
"\t\t\t<geometry>\n"
"\t\t\t<mesh>\n"
"\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t<uri>%s</uri>\n"
"\t\t\t</mesh>\n"
"\t\t\t</geometry>\n"
"\t\t\t </collision>\n"
"\t\t\t<visual name='visual'>\n"
"\t\t\t\t<geometry>\n"
"\t\t\t\t<mesh>\n"
"\t\t\t\t\t<scale>1 1 1</scale>\n"
"\t\t\t\t\t<uri>%s</uri>\n"
"\t\t\t\t</mesh>\n"
"\t\t\t\t</geometry>\n"
"\t\t\t<material>\n"
"\t\t\t\t<ambient>1 0 0 1</ambient>\n"
"\t\t\t\t<diffuse>%f %f %f %f</diffuse>\n"
"\t\t\t\t<specular>0.1 0.1 0.1 1</specular>\n"
"\t\t\t\t<emissive>0 0 0 0</emissive>\n"
"\t\t\t </material>\n"
"\t\t\t </visual>\n"
"\t\t\t </link>\n"
"\t\t\t</model>\n", objSdfPartFileName, s, s,
objSdfPartFileName, objSdfPartFileName,
kdRed, kdGreen, kdBlue, transparency);
}
}
fprintf(sdfFile,"\t</world>\n</sdf>\n");

1
MANIFEST.in
View File

@@ -5,6 +5,7 @@ recursive-include Extras *.h
recursive-include Extras *.hpp
recursive-include src *.h
recursive-include src *.hpp
recursive-include examples/pybullet/gym *.*
include examples/ThirdPartyLibs/enet/unix.c
include examples/OpenGLWindow/X11OpenGLWindow.cpp
include examples/ThirdPartyLibs/Glew/glew.c

2
VERSION
View File

@@ -1 +1 @@
2.87
2.88

21
build3/cmake/FindPythonLibs.cmake
View File

@@ -64,7 +64,7 @@ if(EXISTS "${PYTHON_INCLUDE_DIR}" AND EXISTS "${PYTHON_LIBRARY}")
else()
set(_PYTHON1_VERSIONS 1.6 1.5)
set(_PYTHON2_VERSIONS 2.7 2.6 2.5 2.4 2.3 2.2 2.1 2.0)
set(_PYTHON3_VERSIONS 3.4 3.3 3.2 3.1 3.0)
set(_PYTHON3_VERSIONS 3.6 3.5 3.4 3.3 3.2 3.1 3.0)
unset(_PYTHON_FIND_OTHER_VERSIONS)
if(PythonLibs_FIND_VERSION)
@@ -124,7 +124,7 @@ else()
STRING(REGEX REPLACE "^([0-9]+).*$" "\\1" _VERSION_MAJOR "${_CURRENT_VERSION}")
STRING(REGEX REPLACE "^[0-9]+\\.([0-9]+).*$" "\\1" _VERSION_MINOR "${_CURRENT_VERSION}")
set(_PYTHON_NAMES python)
set(_PYTHON_NAMES ${PYTHON_EXECUTABLE} python)
if (_CURRENT_VERSION MATCHES "^[0-9]+.*$")
list(APPEND _PYTHON_NAMES "python${_VERSION_MAJOR}")
@@ -144,7 +144,7 @@ else()
if(_PYTHON_EXECUTABLE)
EXECUTE_PROCESS(
COMMAND ${_PYTHON_EXECUTABLE} "${_FIND_LIB_PYTHON_PY}"
COMMAND "${_PYTHON_EXECUTABLE}" "${_FIND_LIB_PYTHON_PY}"
OUTPUT_VARIABLE _PYTHON_CONFIG
RESULT_VARIABLE _PYTHON_CONFIG_RESULT
ERROR_QUIET)
@@ -172,16 +172,17 @@ else()
if(NOT EXISTS "${PYTHON_LIBRARY}")
set(_PYTHON_SHORT_VERSION_NO_DOT "${_PYTHON_MAJOR_VERSION}${_PYTHON_MINOR_VERSION}")
set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT})
set(_PYTHON_LIBRARY_NAMES python${_PYTHON_SHORT_VERSION} python${_PYTHON_SHORT_VERSION_NO_DOT} python${_PYTHON_SHORT_VERSION}m python${_PYTHON_SHORT_VERSION_NO_DOT}m)
FIND_LIBRARY(PYTHON_LIBRARY
NAMES ${_PYTHON_LIBRARY_NAMES}
PATH_SUFFIXES
python${_PYTHON_SHORT_VERSION}/config
python${_PYTHON_SHORT_VERSION_NO_DOT}/config
"python${_PYTHON_SHORT_VERSION}/config"
"python${_PYTHON_SHORT_VERSION_NO_DOT}/config"
PATHS
${_PYTHON_LIBRARY_DIR}
${_PYTHON_PREFIX}/lib $
{_PYTHON_PREFIX}/libs
${_PYTHON_PREFIX}/lib
${_PYTHON_PREFIX}/libs
${_PYTHON_LIBRARY_DIR}/x86_64-linux-gnu/
NO_DEFAULT_PATH)
if(WIN32)
@@ -254,6 +255,10 @@ set(PYTHON_LIBRARY_DEBUG "${PYTHON_DEBUG_LIBRARY}")
set(PYTHON_LIBRARY_RELEASE "${PYTHON_LIBRARY}")
include(${CMAKE_CURRENT_LIST_DIR}/SelectLibraryConfigurations.cmake)
SELECT_LIBRARY_CONFIGURATIONS(PYTHON)
if(PYTHON_LIBRARY AND NOT PYTHON_LIBRARIES)
set(PYTHON_LIBRARIES "${PYTHON_LIBRARY}")
endif()
# SELECT_LIBRARY_CONFIGURATIONS() sets ${PREFIX}_FOUND if it has a library.
# Unset this, this prefix doesn't match the module prefix, they are different
# for historical reasons.

116
build3/premake4.lua
View File

@@ -45,6 +45,13 @@
description = "Try to link and use system X11 headers instead of dynamically loading X11 (dlopen is default)"
}
newoption
{
trigger = "enable_static_vr_plugin",
description = "Statically link vr plugin (in examples/SharedMemory/plugins/vrSyncPlugin)"
}
newoption
{
trigger = "noopengl3",
@@ -238,6 +245,9 @@ end
targetdir( _OPTIONS["targetdir"] or "../bin" )
location("./" .. act .. postfix)
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
if not _OPTIONS["python_include_dir"] then
_OPTIONS["python_include_dir"] = default_python_include_dir
end
@@ -245,22 +255,112 @@ end
if not _OPTIONS["python_lib_dir"] then
_OPTIONS["python_lib_dir"] = default_python_lib_dir
end
if os.is("Linux") then
default_glfw_include_dir = "usr/local/include/GLFW"
default_glfw_lib_dir = "/usr/local/lib/"
default_glfw_lib_name = "glfw3"
end
if os.is("macosx") then
default_glfw_include_dir = "/usr/local/Cellar/glfw/3.2.1/include"
default_glfw_lib_dir = "/usr/local/Cellar/glfw/3.2.1/lib"
default_glfw_lib_name = "glfw"
end
if os.is("Windows") then
default_glfw_include_dir = "c:/glfw/include"
default_glfw_lib_dir = "c:/glfw/lib"
default_glfw_lib_name = "glfw3"
end
if not _OPTIONS["glfw_lib_dir"] then
_OPTIONS["glfw_lib_dir"] = default_glfw_lib_dir
end
if not _OPTIONS["glfw_include_dir"] then
_OPTIONS["glfw_include_dir"] = default_glfw_include_dir
end
if not _OPTIONS["glfw_lib_name"] then
_OPTIONS["glfw_lib_name"] = default_glfw_lib_name
end
projectRootDir = os.getcwd() .. "/../"
print("Project root directory: " .. projectRootDir);
newoption
{
trigger = "glfw_include_dir",
value = default_glfw_include_dir,
description = "GLFW 3.x include directory"
}
newoption
{
trigger = "glfw_lib_name",
value = default_glfw_lib_name,
description = "GLFW 3.x library name (glfw, glfw3)"
}
newoption
{
trigger = "glfw_lib_dir",
value = default_glfw_lib_dir,
description = "(optional) GLFW 3.x library directory "
}
newoption
{
trigger = "enable_glfw",
value = false,
description = "(optional) use GLFW 3.x library"
}
if _OPTIONS["enable_glfw"] then
defines {"B3_USE_GLFW"}
function initOpenGL()
includedirs {
projectRootDir .. "examples/ThirdPartyLibs/glad"
}
includedirs {
_OPTIONS["glfw_include_dir"],
}
libdirs {
_OPTIONS["glfw_lib_dir"]
}
links { _OPTIONS["glfw_lib_name"]}
files { projectRootDir .. "examples/ThirdPartyLibs/glad/glad.c" }
end
function findOpenGL3()
return true
end
function initGlew()
end
else
dofile ("findOpenGLGlewGlut.lua")
if (not findOpenGL3()) then
defines {"NO_OPENGL3"}
end
end
dofile ("findOpenCL.lua")
dofile ("findDirectX11.lua")
dofile ("findOpenGLGlewGlut.lua")
if (not findOpenGL3()) then
defines {"NO_OPENGL3"}
end
language "C++"
if _OPTIONS["audio"] then
include "../examples/TinyAudio"
end

3
build_visual_studio_vr_pybullet_double.bat
View File

@@ -17,7 +17,8 @@ del tmp1234.txt
cd build3
premake4 --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
premake4 --double --midi --enable_static_vr_plugin --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010
#premake4 --serial --audio --double --midi --enable_openvr --enable_pybullet --python_include_dir="%myvar%/include" --python_lib_dir="%myvar%/libs" --targetdir="../bin" vs2010

4
build_visual_studio_vr_pybullet_double_cmake.bat
View File

@@ -1,4 +1,4 @@
mkdir build_cmake
cd build_cmake
cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.2\include -DPYTHON_LIBRARY=c:\python-3.5.2\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.2\libs\python35_d.lib -G "Visual Studio 14 2015" ..
start .
cmake -DBUILD_PYBULLET=ON -DUSE_DOUBLE_PRECISION=ON -DCMAKE_BUILD_TYPE=Release -DPYTHON_INCLUDE_DIR=c:\python-3.5.3.amd64\include -DPYTHON_LIBRARY=c:\python-3.5.3.amd64\libs\python35.lib -DPYTHON_DEBUG_LIBRARY=c:\python-3.5.3.amd64\libs\python35_d.lib -G "Visual Studio 14 2015 Win64" ..
start .

182
data/TwoJointRobot_w_fixedJoints.urdf Normal file
View File

@@ -0,0 +1,182 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_01_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_12_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_21_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_23_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_1">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<link name="link_2">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<joint name="link_01" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_01_cyl"/>
<child link="link_1"/>
</joint>
<joint name="link_12" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_1"/>
<child link="link_12_cyl"/>
</joint>
<joint name="link_21" type="fixed">
<origin rpy="0 0 0" xyz="0 0 0"/>
<parent link="link_21_cyl"/>
<child link="link_2"/>
</joint>
<joint name="link_23" type="fixed">
<origin rpy="0 0 0" xyz="1.0 0 0"/>
<parent link="link_2"/>
<child link="link_23_cyl"/>
</joint>
<joint name="joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<parent link="base_link"/>
<child link="link_01_cyl"/>
</joint>
<joint name="joint_2" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3" upper="+3" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0.0 0. 0.05"/>
<parent link="link_12_cyl"/>
<child link="link_21_cyl"/>
</joint>
</robot>

110
data/TwoJointRobot_wo_fixedJoints.urdf Normal file
View File

@@ -0,0 +1,110 @@
<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- | This document was autogenerated by xacro from TwoJointRobot_woCyl.xacro | -->
<!-- | EDITING THIS FILE BY HAND IS NOT RECOMMENDED | -->
<!-- =================================================================================== -->
<robot name="TwoJointRobot" xmlns:xacro="http://www.ros.org/wiki/xacro">
<material name="blue">
<color rgba="0 0 0.8 1"/>
</material>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
<link name="base_link">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.025"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_23_cyl">
<visual>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<cylinder length="0.05" radius="0.075"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
<inertial>
<mass value="0.2"/>
<inertia ixx="0.000322916666667" ixy="0.0" ixz="0.0" iyy="0.000322916666667" iyz="0.0" izz="0.0005625"/>
</inertial>
</link>
<link name="link_1">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="blue"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<link name="link_2">
<visual>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
<material name="white"/>
</visual>
<collision>
<geometry>
<box size="1.0 0.1 0.05"/>
</geometry>
<origin rpy="0 0 0" xyz="0.5 0 0"/>
</collision>
<inertial>
<mass value="0.5"/>
<inertia ixx="0.00208333333333" ixy="0.0125" ixz="0.00625" iyy="0.167083333333" iyz="0.000625" izz="0.168333333333"/>
</inertial>
</link>
<joint name="joint_1" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="10000" lower="-3.14" upper="3.14" velocity="5"/>
<dynamics damping="0" friction="0"/>
<origin rpy="0 0 0" xyz="0 0 0.075"/>
<parent link="base_link"/>
<child link="link_1"/>
</joint>
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6
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@@ -62,6 +62,12 @@
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<collision>
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<joint name="cart_to_pole" type="continuous">

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</link>
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<link name='link_d106'>
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<collision concave='yes' name='collision_106'>
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<scale>.1 .1 .1</scale>
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47
data/kitchens/fatihrmutfak/bedroom.mtl
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177
data/kitchens/fatihrmutfak_license.txt
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@@ -2,177 +2,8 @@ Royalty Free License
Original kitchen model downloaded from from https://www.turbosquid.com/3d-models/free-obj-model/1064415
Converted using Bullet/Extras/obj2sdf
See https://blog.turbosquid.com/royalty-free-license/
Royalty Free License
This is a legally binding agreement between licensee (<28>you<6F>), and TurboSquid regarding your rights to use Stock Media Products from the Site under this license. <20>You<6F> refers to the purchasing entity, whether that is a natural person who must be at least 18 years of age, or a corporate entity. The rights granted in this agreement are granted to the purchasing entity, its parent company, and its majority owned affiliates on a <20>royalty free<65> basis, which means that after a Purchase, there are no future royalties or payments that are required. Collectively, these rights are considered <20>extended uses<65>, and are granted to you, subject to applicable Editorial Use Restrictions described below. The license granted is wholly transferable to other parties so long it is in force and not terminated, otherwise violated, or extinguished, as set forth herein. This agreement incorporates by reference the Terms of Use as well as the Site<74>s policies and procedures as such.
I. Introduction & Definitions
Definitions
This agreement is intended to be easy to understand, and to provide clarity for using Stock Media Products in the work you create (<28>Creations<6E>). Over the years, TurboSquid has been asked many questions about how Stock Media Products may be used in Creations, and we have attempted to answer those questions in this agreement.
Some words in this agreement are given specific meanings. Words that appear initially in quotations, such as <20>you<6F> and <20>Creations<6E>, are defined in the text preceding the word. Other capitalized words are defined below:
<EFBFBD>Stock Media Product<63> is the collection of one or more digital files, packaged in the form of a product on the Site that can be identified by a product ID, and that is uploaded by you, or otherwise made available to you, for Purchase on the Site. A Stock Media Product may include 3D models, texture maps, motion captures, photographs, imagery, application and plug-in software, materials and shaders, shapes and vector graphics, training materials, building components, sound effects, stock music, and videos. Additionally, a Stock Media Product may include a number of individual files of different file formats to make it easier for Customers to work in a variety of software applications (such as 3ds Max, Maya, and Cinema 4D), and may also include other files (such as jpeg images used for texturing), and images or other files that are used for promotional purposes. For Customers and their use in Creations, this definition also includes derivative and intermediary files used for that purpose.
<EFBFBD>Site<EFBFBD> refers to the TurboSquid websites, API<50>s, software applications or any approved means or utility either currently in existence or in the future; the software and source code used by TurboSquid to provide such services; user interface layouts, designs, images, text, knowledgebase articles, program offers; site information provided in reports (such as popular keyword searches); and all other intellectual property protected under copyright, trademark, patent, publicity, or any other proprietary right.
<EFBFBD>Purchase<EFBFBD> is the acquisition of a Stock Media Product by you from the Site under this agreement, whether as a purchase of Stock Media Product made available at a price of greater than $0, or a download of Stock Media Product made available at no charge.
<EFBFBD>TurboSquid<EFBFBD> includes TurboSquid, Inc. and all licensed affiliates and partners that distribute Stock Media Products on behalf of TurboSquid, Inc.
<EFBFBD>Product Page<67> is the product page or interface that displays Stock Media Products available for Purchase on the Site.
<EFBFBD>Computer Game<6D> is a type of Creation that includes digital games, computer-based games, handheld electronic games, mobile games, online games, social games, game mods, and console-based games.
<EFBFBD>Imagery<EFBFBD> is a Creation made of any single image or sequence of images.
<EFBFBD>Intellectual Property<74> means, copyright, trademark, trade secret, right of publicity, or any other proprietary right throughout the world.
To make reading this agreement easier and less repetitive, the following constructions are used:
<EFBFBD>Include,<2C> including,<2C> and <20>such as<61> are considered to be followed with <20>but not limited to.<2E> Examples are used in this agreement to illustrate, rather than limit, the scope of the terms.
<EFBFBD>The following restrictions<6E>, <20>the foregoing restrictions<6E>, and <20>subject to the restrictions<6E> are considered to be followed with <20>in addition to all other restrictions applicable within this agreement.<2E>
II. License Rights
1. Ownership. TurboSquid does not grant title or ownership in Stock Media Products. All rights in Stock Media Products not expressly granted in this agreement are reserved by TurboSquid for itself and its licensors.
2. Rights Granted. For Stock Media Products, TurboSquid grants to you a non-exclusive, perpetual, worldwide right and license to copy, distribute, reproduce, adapt, publicly display, publicly perform, digitally perform, transmit, broadcast, telecast, advertise, create derivative works, and market Stock Media Products within Creations in the uses authorized in this agreement. You may request authorization for a use not covered by this agreement (<28>New Use<73>) by writing agent@turbosquid.com. TurboSquid is authorized to approve a New Use if TurboSquid finds in its sole judgment that the New Use is substantially similar to another established use in this agreement, and authorizes the New Use in writing.
3. Rights Granted When Sharing Stock Media Products. If you Purchase as an employee of a corporate entity,sharing Purchased Stock Media Products with other employees of your corporate entity is allowed. Examples of allowed sharing include storing files on a networked hard drive, and aggregating Stock Media Products for later use in future Creations. You are responsible for any downstream distribution, use, or misuse by a recipient of a shared Stock Media Product.In all cases, sharing Stock Media Products with external people or entities is only allowed in the following situations, and with the following restrictions:
a. In the production of a Creation owned by you, if you are working in collaboration with external parties, and there is a need to share Stock Media Products for the development and production of your Creation, sharing Stock Media Products with those external parties is allowed. Any external party that receives Stock Media Products may only use Stock Media Products on your Creations and must take reasonable care to secure and limit access to Stock Media Products to that purpose.
b. In the production of a Creation owned by another entity (<28>your Client<6E>), if you are working as a contractor and need to share Stock Media Products with your Client, or any external parties working with your Client, sharing Stock Media Products is allowed, subject to the restriction that all parties may use Stock Media Products only for your Client<6E>s particular Creation, and for successive versions of your Client<6E>s Creation, such as sequel Computer Games or movies that utilize the same 3D models. All parties must take reasonable care to secure and limit access to Stock Media Products to the parties working on your Client<6E>s Creation. For all other use by any party, Stock Media Products must be Purchased again to create a new license agreement governing that use.
4. Editorial Use Restriction for Some Stock Media Products. The following restrictions apply to any Stock Media Product affixed with an <20>Editorial<61> notice on its Product Page. The Editorial notice is one way to alert you that certain subject matter depicted by Stock Media Products, such as a manufactured product under a brand name, may be protected by another party<74>s Intellectual Property rights (<28>Other-Party Intellectual Property<74>). Permitted use of Other-Party Intellectual Property in Stock Media Products is limited to news reporting in Creations of some cultural, editorial, journalistic, or otherwise newsworthy value, and includes news reporting on television and the internet. This restriction does not apply if you have the needed authorization to use the Other-Party Intellectual Property for your Creation, such as if you are the Intellectual Property owner yourself, or an Intellectual Property owner<65>s advertising team, hired party, or licensee purchasing that company<6E>s product.
5. Other-Party Intellectual Property. TurboSquid does not own or license any Other-Party Intellectual Property. TurboSquid does not in any way make any representations or warranties about Other-Party Intellectual Property associated with Stock Media Products. You are solely responsible for determining the need for and, if appropriate, obtaining any needed Other-Party clearance, consent, or release to use any Other-Party Intellectual Property in your Creations.
6. Creations of Imagery.
Permitted Uses of Creations of Imagery. Subject to the following restrictions, you may use Creations of Imagery within news, film, movies, television programs, video projects, multi-media projects, theatrical display, software user interfaces; architectural renderings, Computer Games, virtual worlds, simulation and training environments; corporate communications, marketing collateral, tradeshow promotional items, booth decorations and presentations; pre-visualizations, product prototyping and research; mobile, web, print, television, and billboard advertising; online and electronic publications of blogs, literature, social media, and email campaigns; website designs and layouts, desktop and mobile wallpapers, screensavers, toolbar skins; books, magazines, posters, greeting cards; apparel items, brochures, framed or printed artwork, household items, office items, lenticular prints, product packaging and manufactured products.
Restrictions on Permitted Uses of Creations of Imagery.
a. Stock Media Clearinghouse. You may NOT publish or distribute Creations of Imagery through another stock media clearinghouse, for example as part of an online marketplace for photography, clip art, or design templates.
b. Promotional Images. Images displayed for the promotion of Stock Media Products, such as preview images on the Stock Media Product<63>s Product Page (<28>Promotional Images<65>), may be used in Creations of Imagery, provided that the Stock Media Product itself has been Purchased and subject to the following restrictions:
i. You may NOT use a Promotional Image that has any added element which is not included as part of the Stock Media Product. An example of this type of restricted use is if the Stock Media Product contains a 3D model of an airplane, and there is a Promotional Image of that airplane rendered over a blue sky; however, the blue sky image is not included as part of the Stock Media Product. Other prohibited examples include use of Promotional Images from movies or advertisements that may have used Stock Media Product.
ii. You may NOT use any Promotional Image that has a logo, mark, watermark, attribution, copyright or other notice superimposed on the image without prior approval from TurboSquid Support.
c. Business Logos. You may NOT use Imagery in any Creation that is a trademark, servicemark, or business logo. This restriction is included because the owners of these types of Creations typically seek exclusivity on the use of the imagery in their Creation, which is incompatible with the non-exclusive license granted to you under this agreement.
7. Creations of Computer Games and Software
Permitted Uses in Creations of Computer Games and Software. Subject to the following restrictions, you may include Stock Media Products in Creations of Computer Games, virtual worlds, simulation and training environments; mobile, desktop and web applications; and interactive electronic publications of literature such as e-books and electronic textbooks.
Restrictions on Permitted Uses of Stock Media Products in Creations of Games and Software.
a. Interactivity. Your inclusion of Stock Media Products within any such Creation is limited to uses where Stock Media Product is contained in an interactive experience for the user and not made available outside of the interactive experience. Such a permitted example of this use would be to include a 3D model of human anatomy in a medical training application, in a way that the 3D model or its environment may be manipulated or interacted with.
b. Access to Stock Media Products. You must take all reasonable and industry standard measures to prevent other parties from gaining access to Stock Media Products. Stock Media Products must be contained in proprietary formats so that they cannot be opened or imported in a publicly available software application or framework, or extracted without reverse engineering. You may NOT publish or distribute Stock Media Products in any open format, or format encrypted with decryptable open standards (such as WebGL or an encrypted compression archive).
c. Open Systems. You may NOT include Stock Media Products in Creations that have the general functionality for importing and/or exporting Stock Media Products. An example of such a prohibited use is to include Stock Media Products as a starter library within a Creation that allows users to generally work with 3D models, even if the Stock Media Product itself is somehow protected and is not capable of being exported. Instead, the users of such a software application may Purchase Stock Media Products directly from the Site.
d. Virtual Good Sales. You may NOT import, upload, reproduce, make available, publish, transmit, distribute, or sublicense Stock Media Products in Creations of virtual goods or worlds for any 3D community (<28>Virtual World<6C>), unless you or your Client owns the Virtual World platform and it complies with the foregoing restrictions.
8. Creations of Physical Form.
Permitted Uses in Creations of Physical Form. Subject to the following restrictions, you may use Stock Media Products to make physical Creations such as 3D printed works, articles of manufacture, custom vehicles, furniture, jewelry, sculptural artwork, toys, and physical entertainment goods (<28>Creations of Physical Form<72>).
Restrictions on Permitted Uses in Creations of Physical Form.
a. Substantially Similar Creations. Permitted use of any Creation of Physical Form in which a Stock Media Product is untransformed or substantially similar to the Stock Media Product, is limited to personal use, gifts, or charitable donations, with a maximum of 5 instances of such Creation per Purchase; unless the Stock Media Product is a small part of a much larger array of other physical objects in the Creation. For example, if you are creating a real-world, physical human skeleton for manufacture for sale, it is permitted to add a 3D printed human head that exactly resembles the Purchased Stock Media Product, but it is not permitted to sell the 3D printed head by itself. Another permitted example of a Stock Media Product being a small part of a larger array is using a 3D model that ends up within an automobile as a part of the automobile.
b. No Other-Party Intellectual Property. You may NOT reproduce Other-Party Intellectual Property in any Creation of Physical Form for any purpose.
9. 3D Industry Promotional Use. If TurboSquid has granted you, as a hardware or software partner, access to priced Stock Media Products on a free-of-charge basis, your use of Stock Media Products is restricted to internal testing for your 3D software or hardware products, and to the promotion of your software or hardware products with Creations of Imagery provided that an attribution of the artist<73>s name and the Site are included. You agree that should any Stock Media Products be used outside of these purposes in ways that are normally allowed after a Purchase, that you will promptly Purchase the Stock Media Products and otherwise comply with the terms herein.
10. Unauthorized Use. If you use Stock Media Products in an unauthorized way, TurboSquid may terminate your account and pursue other penalties, damages, losses, and profits TurboSquid is entitled to under this agreement or at law or equity. The following are unauthorized uses that are explicitly prohibited:
a. Competition. You may NOT use Stock Media Products in a way that competes with the Site or the Stock Media Products themselves.
b. Re-Distribution. You may NOT re-distribute, publish, or make Stock Media Products available to any third party except in the form of a permitted Creation, or shared as authorized in this agreement.
c. Group Buying. You may NOT aggregate funds to Purchase Stock Media Products with one or more other parties. An example of this prohibited use is a website membership where members pool their money to make a single Purchase that is shared by the members of the group. Each such member must Purchase individually.
d. Stock Media Product Clearinghouses. You may NOT publish, distribute, or make Stock Media Products available through any online clearinghouse infrastructure.
e. No Obscene or Unlawful Use. You may NOT use Stock Media Products for any defamatory, harassing, pornographic, obscene, or racist purpose, or to infringe any party<74>s Intellectual Property rights.
f. False Attribution. You may NOT misrepresent yourself as the creator of Stock Media Products.
III. License Term & Termination
1. Term. Your right and license to Stock Media Products is perpetual, unless terminated as described herein.
2. Termination. Your license grant is terminated immediately and without notice in the cases below. In such termination, you and any recipients of Stock Media Products must cease use, distribution, and destroy all copies of Stock Media Products.
a. Reversal of Purchase. Your right and license to Stock Media Products are contingent on your Purchase of Stock Media Products. Any payment reversal of a Purchase for any reason immediately terminates all rights granted under this agreement. Potential Reasons for a payment reversal include:
i. TurboSquid reverses your Purchase at your request.
ii. TurboSquid receives a charge back notice from your bank or credit card cancelling your Purchase and withdrawing the funds used for your Purchase.
iii. TurboSquid determines in its sole discretion that your Purchase was fraudulent.
iv. Your purchase was made with a dishonored check.
v. Your purchase was made and there is a bank transfer failure.
vi. When you are granted delayed payment terms, and fail to make payments such that TurboSquid sends you notice and terminates your account.
b. Failure to Abide by the License Grant. Material failure to abide by the terms of this agreement immediately terminates your right and license to Stock Media Products. If you detect a violation of the license grant by you or any recipient of shared Stock Media Products, and promptly report the violation to agent@turbosquid.com, TurboSquid will make a good faith effort to find an appropriate remedy to preserve your license grant.
IV. Warranties
You covenant, represent, and warrant to TurboSquid that:
1. You have full right, power, legal capacity, and authority to enter into and perform this agreement, have obtained any third-party consent needed to do so, and, prior to any Purchase, had an opportunity to seek independent legal counsel.
2. You will not use Stock Media Products except pursuant to the terms of this agreement. Should you use Stock Media Products in an unauthorized way, you agree to any reasonable fee or penalty exercised by TurboSquid under this agreement or applicable law.
3. You will, prior to Purchase, determine the need for and, if appropriate, obtain any needed third-party clearance, consent, or release to use Other-Party Intellectual Property shown in the digital rendering of Stock Media Products, and shall not use Stock Media Products to infringe any party<74>s Intellectual Property rights.
4. You will immediately notify TurboSquid of any Intellectual Property claim against your use of Stock Media Products or any other rights issue, before disclosing such issue to any third-party.
V. Limitation of Liability
1. Stock Media Products are provided on an <20>as is<69>, <20>as available<6C>, and <20>with all faults<74> basis. TurboSquid makes no representations, warranties, conditions, or guarantees as to the usefulness, quality, suitability, truth, fitness for a particular purpose, non-infringement, merchantability, or cosmetic attributes of Stock Media Products, and does not guarantee the accuracy or completeness of specifications associated with Stock Media Products, including measurements, weight, durability, strength, materials, general physical properties, regulatory compliance, other engineering or construction attributes.
2. TurboSquid disclaims all express or implied conditions, representations, and warranties of any kind regarding Stock Media Products, including any implied warranty or condition of merchantability. TurboSquid allows your Purchase to be refunded under certain reasonable time frames and conditions, subject to the Site<74>s policies.
3. You assume all risk for any damage to your computer systems and network for any damage to your computer system by obtaining Stock Media Products, including any damages resulting from computer viruses.
4. To the fullest extent permitted by law, TurboSquid shall not be liable for any direct, indirect, punitive, special, incidental, consequential, or exemplary damages (including loss of business, revenue, profits, goodwill, use, data, electronically transmitted orders, or other economic advantage) arising out of or in connection with Stock Media Products, even if TurboSquid has previously been advised of, or reasonably could have foreseen, the possibility of such damages, however they arise, whether in breach of contract or in tort (including negligence). To the extent that any jurisdiction does not allow the exclusion or limitation of direct, incidental, or consequential damages, portions of the preceding limitation or exclusion may not apply, but should be construed to the greatest extent applicable in such jurisdictions.
5. You agree to indemnify and hold TurboSquid and its subsidiaries, affiliates, shareholders, officers, directors, agents, licensors, licensee, suppliers, alliance members, other partners, employees and representatives (<28>TurboSquid Parties<65>) harmless from any claim or demand, including reasonable attorneys<79> fees, made by any third party due to, or arising out of your use of the Source Material or Creations.
VI. Other Terms
1. Entire Agreement. This agreement constitutes the entire agreement between you and TurboSquid relating to your Purchase, unless you have a corporate license agreement with TurboSquid. Corporate licenses are available with additional protections for additional fees. Please contact agent@turbosquid.com if your organization requires a corporate license. TurboSquid does not otherwise offer any other changes, additions, variations, or additional signed forms related to this agreement. No modification to this agreement will be binding, unless in writing and signed by an authorized TurboSquid representative.
2. Material Breach. You agree that any material breach of these Terms will result in irreparable harm to TurboSquid for which damages would be an inadequate remedy and, therefore, in addition to its rights and remedies otherwise available at law, TurboSquid will be entitled to equitable relief, including both a preliminary and permanent injunction, if such a breach occurs. You waive any requirement for the posting of a bond or other security if TurboSquid seeks such an injunction.
3. Import/Export Regulations. Stock Media Products may be subject to the U.S. export laws and the export or import laws of other countries. You agree to comply strictly with all such laws and, in particular, shall with Stock Media Products: (a) obtain any export, re-export, or import authorizations required by U.S. or Your local laws; (b) not design, develop or produce missile, chemical/biological, or nuclear weaponry; and (c) not provide Stock Media Products to prohibited countries and entities identified in the U.S. export regulations.
4. Governing Law. This agreement is governed by New York law, excluding conflict of law principles. Any action or proceeding arising out of or related to this agreement must be brought in a state or federal court located in New York, New York, and both parties irrevocably submit to the exclusive jurisdiction of such courts. All notices, requests and other communications under this agreement must be in writing (e-mail messages shall be deemed writings).
5. LIMITED INTERNAL USER ARBITRATION. You acknowledge and agree that TurboSquid may, in its sole discretion, arbitrate disputes between TurboSquid users involving Stock Media Products (including any purchaser or supplier of Stock Media Products), and such findings shall be final and non-appealable. Either party may request that TurboSquid arbitrate the dispute, or TurboSquid may elect, at its option, to arbitrate the dispute. After TurboSquid elects to arbitrate any dispute hereunder, TurboSquid will waive any rights to a commission from both the Purchase and arbitration, and the parties must keep the results and process confidential and may not disclose anything related to the dispute to any other party (whether by oral, written, or other type of disclosure). To resolve disputes, TurboSquid may decide to terminate or suspend users, revoke the license, offer replacement Stock Media Products, reestablish the licensee, or surrender or reallocate fees (whether by refund, charitable donation, or otherwise). TurboSquid may award up to 3X the Purchase price to either party depending on the circumstances. YOU UNDERSTAND, ACKNOWLEDGE, AND AGREE THAT ACCEPTING THIS ARBITRATION PROVISION WAIVES RIGHTS TO JUDICIAL RESOLUTION, TRIAL BY JURY AND RIGHTS YOU WOULD OTHERWISE HAVE IF YOU HAD NOT AGREED TO THIS ARBITRATION PROVISION.
6. Notice. Any notice under this agreement shall be via email to agent@turbosquid.com, provided that you receive an acknowledgement email from a TurboSquid representative within 5 business days. If no such acknowledgement email is received, notice must be in writing and delivered by mail to the following address.
TurboSquid, Inc.
c/o TurboSquid Support
935 Gravier St., Suite 1600
New Orleans, LA 70112
7. Assignment. TurboSquid may not assign its rights under this agreement without providing you notice, except in the case of a bankruptcy, merger, acquisition, sale of all or substantially all of TurboSquid<69>s assets to a subsequent owner or operator, or similar event. You may not assign your rights under this agreement without the prior written consent of TurboSquid, which will not be unreasonably withheld.
8. English. This agreement may be translated into other languages, but English is the official language of this agreement and in any conflict between the English language version and any other version, the English language version shall control.
This Royalty Free License is effective for use with Stock Media Products for use on or after July 23, 2015.
This kitchen was originally using the royalty free license https://blog.turbosquid.com/royalty-free-license/
However, in personal email the author gave permission to use it for any purpose with Bullet:
You can use it freely with Bullet, without restrictions.
Author contact: info@fabrika3b.com

16
data/kuka_iiwa/model_free_base.urdf
View File

@@ -70,7 +70,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_0.stl"/>
<mesh filename="meshes/link_0.obj"/>
</geometry>
<material name="Grey"/>
</visual>
@@ -99,7 +99,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_1.stl"/>
<mesh filename="meshes/link_1.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -128,7 +128,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_2.stl"/>
<mesh filename="meshes/link_2.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -157,7 +157,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_3.stl"/>
<mesh filename="meshes/link_3.obj"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -186,7 +186,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_4.stl"/>
<mesh filename="meshes/link_4.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -215,7 +215,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_5.stl"/>
<mesh filename="meshes/link_5.obj"/>
</geometry>
<material name="Blue"/>
</visual>
@@ -244,7 +244,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_6.stl"/>
<mesh filename="meshes/link_6.obj"/>
</geometry>
<material name="Orange"/>
</visual>
@@ -273,7 +273,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="meshes/link_7.stl"/>
<mesh filename="meshes/link_7.obj"/>
</geometry>
<material name="Grey"/>
</visual>

11
data/marble_cube.mtl Normal file
View File

@@ -0,0 +1,11 @@
# Blender MTL File: 'marble_cube.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd tiles.jpg

50
data/marble_cube.obj Normal file
View File

@@ -0,0 +1,50 @@
# Blender v2.68 (sub 0) OBJ File: 'marble_cube.blend'
# www.blender.org
mtllib marble_cube.mtl
o Cube
v -1.000000 -1.000000 1.000000
v -1.000000 -1.000000 -1.000000
v 1.000000 -1.000000 -1.000000
v 1.000000 -1.000000 1.000000
v -1.000000 1.000000 1.000000
v -1.000000 1.000000 -1.000000
v 1.000000 1.000000 -1.000000
v 1.000000 1.000000 1.000000
vt 0.900965 0.983117
vt 0.607937 0.967373
vt 0.920037 0.686085
vt 0.327732 0.352741
vt 0.031938 0.342703
vt 0.332102 0.029274
vt 0.618409 0.671643
vt 0.324243 0.658970
vt 0.630389 0.363047
vt 0.919788 0.686473
vt 0.618344 0.672098
vt 0.939406 0.372060
vt 0.039476 0.936128
vt 0.319860 0.951754
vt 0.036647 0.646397
vt 0.642259 0.035851
vt 0.630105 0.363646
vt 0.332098 0.029351
vt 0.617757 0.671237
vt 0.027235 0.021626
vt 0.327768 0.352473
vt 0.630480 0.363422
vt 0.325108 0.659325
vt 0.327845 0.352523
usemtl None
s off
f 5/1 6/2 1/3
f 6/4 7/5 2/6
f 7/7 8/8 3/9
f 8/10 5/11 4/12
f 1/13 2/14 4/15
f 8/16 7/17 5/18
f 6/2 2/19 1/3
f 7/5 3/20 2/6
f 8/8 4/21 3/9
f 5/11 1/22 4/12
f 2/14 3/23 4/15
f 7/17 6/24 5/18

32
data/marble_cube.urdf Normal file
View File

@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube">
<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="marble_cube.obj" scale=".5 .5 .5"/>
</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>

BIN
data/multibody.bullet
View File

Binary file not shown.

2
data/plane100.urdf
View File

@@ -18,7 +18,7 @@
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<box size="10 10 0.001"/>
<box size="200 200 0.001"/>
</geometry>
</collision>
</link>

140
data/pole.urdf Executable file
View File

@@ -0,0 +1,140 @@
<?xml version="1.0"?>
<robot name="physics">
<link name="slideBar">
<visual>
<geometry>
<box size="30 0.05 0.05"/>
</geometry>
<origin xyz="0 0 0"/>
<material name="green">
<color rgba="0 0.8 .8 1"/>
</material>
</visual>
<inertial>
<mass value="0"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="pole">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="cart_to_pole" type="prismatic">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.5"/>
<parent link="slideBar"/>
<child link="pole"/>
<limit effort="1000.0" lower="-5" upper="5" velocity="0.5"/>
</joint>
<link name="pole2">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0.5"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</collision>
</link>
<joint name="pole_to_pole2" type="continuous">
<axis xyz="1 0 0"/>
<origin xyz="0.0 0.0 0.5"/>
<parent link="pole"/>
<child link="pole2"/>
</joint>
<link name="pole3">
<visual>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0.5"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.05 0.05 1.0"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.5"/>
</collision>
</link>
<joint name="pole2_to_pole3" type="continuous">
<axis xyz="0 1 0"/>
<origin xyz="0.0 0.0 1"/>
<parent link="pole2"/>
<child link="pole3"/>
</joint>
<link name="endeffector">
<visual>
<geometry>
<box size="0.06 0.06 .06"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<inertial>
<origin xyz="0 0 0"/>
<mass value="10"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
<collision>
<geometry>
<box size="0.06 0.06 .06"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
</collision>
</link>
<joint name="pole2_to_endeffector" type="fixed">
<origin xyz="0.0 0.0 1"/>
<parent link="pole3"/>
<child link="endeffector"/>
</joint>
</robot>

4
data/pr2_gripper.urdf
View File

@@ -24,7 +24,7 @@
<joint name="left_gripper_joint" type="revolute">
<axis xyz="0 0 1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<limit effort="1000.0" lower="-2.0" upper="2.548" velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 0.01 0"/>
<parent link="gripper_pole"/>
<child link="left_gripper"/>
@@ -83,7 +83,7 @@
<joint name="right_gripper_joint" type="revolute">
<axis xyz="0 0 -1"/>
<limit effort="1000.0" lower="0.0" upper="0.548" velocity="0.5"/>
<limit effort="1000.0" lower="-2.0" upper="2." velocity="0.5"/>
<origin rpy="0 0 0" xyz="0.2 -0.01 0"/>
<parent link="gripper_pole"/>
<child link="right_gripper"/>

27
data/quadruped/license.txt Normal file
View File

@@ -0,0 +1,27 @@
LICENSE:
Copyright (c) 2017, Erwin Coumans
Google Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
1. Redistributions or derived work must retain this copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

1073
data/quadruped/minitaur_derpy.urdf Normal file
View File

File diff suppressed because it is too large Load Diff

914
data/quadruped/minitaur_rainbow_dash.urdf Normal file
View File

@@ -0,0 +1,914 @@
<?xml version="1.0"?>
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".3 .13 .087"/>
</geometry>
<material name="black">
<color rgba=".3 .3 .3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz=".10 0 .08"/>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".3 .13 .087"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz=".10 0 .08"/>
<geometry>
<box size=".08 .08 .08"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz=".05 0 0"/>
<mass value="3.353"/>
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="0.644"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="0.644"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_rightR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_rightL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_leftR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_leftL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_rightR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_rightR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_rightL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_rightL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_leftR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_leftR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_leftL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_leftL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
</robot>

980
data/quadruped/minitaur_rainbow_dash_v1.urdf Normal file
View File

@@ -0,0 +1,980 @@
<?xml version="1.0"?>
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".3 .13 .087"/>
</geometry>
<material name="black">
<color rgba=".3 .3 .3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".3 .13 .087"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz=".05 0 0"/>
<mass value="3.353"/>
<inertia ixx=".006837" ixy=".0" ixz=".0" iyy=".027262" iyz=".0" izz=".029870"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="blue">
<color rgba="0 0 1 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 .054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="0.322"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="0 0 0" xyz="0 -.1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="green">
<color rgba="0 1 0 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="green"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz=".2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="-.2375 -.054 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<mass value="0.322"/>
<inertia ixx=".004147" ixy=".0" ixz=".0" iyy=".040913" iyz=".0" izz=".041840"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0 0 0" xyz="0 .1265 -.0185"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_rightR_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightR_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_rightR_bracket_link"/>
<origin rpy="0 0 0" xyz=".2375 -0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_bracket_link"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz=".2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_leftL_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftL_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_front_leftL_bracket_link"/>
<origin rpy="0 0 0" xyz=".2375 0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_bracket_link"/>
<child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_front_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz=".2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightR_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 -0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 -0.03 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightR_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_rightR_bracket_link"/>
<origin rpy="0 0 0" xyz="-.2375 -0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white1">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_bracket_link"/>
<child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-.2375 .0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_leftL_bracket_link">
<visual>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
<material name="red">
<color rgba="1 0 0 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<geometry>
<box size=".068 .032 .050"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0.02 0"/>
<mass value=".16"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftL_bracket_joint" type="prismatic">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="motor_back_leftL_bracket_link"/>
<origin rpy="0 0 0" xyz="-.2375 0.154 -.0185"/>
<limit effort="100" lower="-0.02" upper="0.02" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_bracket_link"/>
<child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0 0 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="motor_back_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length=".021" radius=".0425"/>
</geometry>
</collision>
<inertial>
<mass value=".241"/>
<inertia ixx=".00011397" ixy=".0" ixz=".0" iyy=".00011397" iyz=".0" izz=".00021765"/>
</inertial>
</link>
<joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-.2375 -.0275 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_rightR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_rightL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_rightL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_front_leftR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_front_leftL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_front_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_front_leftL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_rightR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_rightR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_rightL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_rightL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_leftR_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .108"/>
<geometry>
<box size=".017 .009 .216"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .1"/>
<mass value=".072"/>
<inertia ixx=".00023166" ixy=".0" ixz=".0" iyy=".00023325" iyz=".0" izz=".00000198"/>
</inertial>
</link>
<joint name="knee_back_leftR_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".039 .008 .129"/>
</geometry>
</collision>
<inertial>
<mass value=".034"/>
<inertia ixx=".000038770" ixy=".0" ixz=".0" iyy=".000042198" iyz=".0" izz=".0000036030"/>
</inertial>
</link>
<joint name="hip_back_leftL_joint" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0 .045 -.0145"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
<link name="lower_leg_back_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="3000.0"/>
<damping value="100.0"/>
<spinning_friction value=".05"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
<material name="grey">
<color rgba=".65 .65 .75 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<geometry>
<box size=".017 .009 .240"/>
</geometry>
</collision>
<inertial>
<origin rpy="0 0 0" xyz="0 0 .120"/>
<mass value=".086"/>
<inertia ixx=".00032459" ixy=".0" ixz=".0" iyy=".00032637" iyz=".0" izz=".000002178"/>
</inertial>
</link>
<joint name="knee_back_leftL_joint" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/>
<origin rpy="0 0 0" xyz="0 .0085 .056"/>
<limit effort="100" velocity="100"/>
<joint_properties damping=".0" friction=".0"/>
</joint>
</robot>

203
data/quadruped/minitaur_single_motor.urdf Normal file
View File

@@ -0,0 +1,203 @@
<?xml version="0.0" ?>
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2017, Erwin Coumans -->
<!--Google Inc. -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions or derived work must retain this copyright notice, -->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<inertial>
<mass value="3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value=".1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value=".1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</robot>

958
data/quadruped/minitaur_v1.urdf Normal file
View File

@@ -0,0 +1,958 @@
<?xml version="0.0" ?>
<!-- ======================================================================= -->
<!--LICENSE: -->
<!--Copyright (c) 2017, Erwin Coumans -->
<!--Google Inc. -->
<!--All rights reserved. -->
<!-- -->
<!--Redistribution and use in source and binary forms, with or without -->
<!--modification, are permitted provided that the following conditions are -->
<!--met: -->
<!-- -->
<!--1. Redistributions or derived work must retain this copyright notice, -->
<!-- this list of conditions and the following disclaimer. -->
<!-- -->
<!--2. Redistributions in binary form must reproduce the above copyright -->
<!-- notice, this list of conditions and the following disclaimer in the -->
<!-- documentation and/or other materials provided with the distribution. -->
<!-- -->
<!--THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS -->
<!--IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,-->
<!--THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR -->
<!--PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR -->
<!--CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL, -->
<!--EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO, -->
<!--PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR -->
<!--PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF -->
<!--LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING -->
<!--NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS -->
<!--SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE. -->
<robot name="quadruped">
<link name="base_chassis_link">
<visual>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
<material name="black">
<color rgba="0.3 0.3 0.3 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".33 0.10 .07"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.10 0"/>
<geometry>
<box size=".17 0.10 .05"/>
</geometry>
</collision>
<inertial>
<mass value="3"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<link name="chassis_right">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value=".1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_right_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_right"/>
<origin rpy="-0.0872665 0 0" xyz="0.0 -0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="chassis_left">
<visual>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<visual>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material> </visual>
<collision>
<origin rpy="0 0 0" xyz="0 0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<collision>
<origin rpy="0 0 0" xyz="0 -0.035 0"/>
<geometry>
<box size=".34 0.01 .04"/>
</geometry>
</collision>
<inertial>
<mass value=".1"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="chassis_left_center" type="fixed">
<axis xyz="0 0 1"/>
<parent link="base_chassis_link"/>
<child link="chassis_left"/>
<origin rpy="0.0872665 0 0" xyz="0.0 0.10 0.0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_front_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="0.21 0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_front_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_front_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="0.21 -0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_rightR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_rightR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 -0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_rightL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_rightL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_right"/>
<child link="motor_back_rightL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_leftL_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_leftL_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftL_link"/>
<origin rpy="1.57075 0 3.141592" xyz="-0.21 0.025 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="motor_back_leftR_link">
<visual>
<geometry>
<mesh filename="tmotor3.obj" scale="1 1 1"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<geometry>
<cylinder length="0.026" radius="0.0434"/>
</geometry>
</collision>
<inertial>
<mass value="0.25"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_leftR_joint" type="continuous">
<axis xyz="0 0 1"/>
<parent link="chassis_left"/>
<child link="motor_back_leftR_link"/>
<origin rpy="1.57075 0 0" xyz="-0.21 -0.04 0"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_front_rightR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightR_link"/>
<child link="upper_leg_front_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_rightR_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightR_link"/>
<child link="lower_leg_front_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_rightL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_rightL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_rightL_link"/>
<child link="upper_leg_front_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_rightL_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_rightL_link"/>
<child link="lower_leg_front_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_leftR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_front_leftR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftR_link"/>
<child link="upper_leg_front_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_leftR_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftR_link"/>
<child link="lower_leg_front_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_front_leftL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_front_leftL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_front_leftL_link"/>
<child link="upper_leg_front_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_front_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .198"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0.0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_front_leftL_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_front_leftL_link"/>
<child link="lower_leg_front_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_rightR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightR_link"/>
<child link="upper_leg_back_rightR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_rightR_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_rightR_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightR_link"/>
<child link="lower_leg_back_rightR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_rightL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_rightL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_rightL_link"/>
<child link="upper_leg_back_rightL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_rightL_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_rightL_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_rightL_link"/>
<child link="lower_leg_back_rightL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftR_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="hip_leftR_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftR_link"/>
<child link="upper_leg_back_leftR_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_leftR_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2032"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_leftR_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftR_link"/>
<child link="lower_leg_back_leftR_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="upper_leg_back_leftL_link">
<visual>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<geometry>
<box size=".01 0.01 .11"/>
</geometry>
</collision>
<inertial>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="motor_back_leftL_link" type="fixed">
<axis xyz="0 0 1"/>
<parent link="motor_back_leftL_link"/>
<child link="upper_leg_back_leftL_link"/>
<origin rpy="-1.57075 0 0" xyz="0.0 0.06 -0.015"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
<link name="lower_leg_back_leftL_link">
<contact>
<friction_anchor/>
<stiffness value="30000.0"/>
<damping value="1000.0"/>
<spinning_friction value=".3"/>
<lateral_friction value="1"/>
</contact>
<visual>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
<material name="grey">
<color rgba="0.65 0.65 0.75 1"/>
</material>
</visual>
<collision>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<geometry>
<box size=".01 0.01 .2"/>
</geometry>
</collision>
<inertial>
<origin rpy="0.0 0 0" xyz="0 0 .1"/>
<mass value="0.05"/>
<inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
</inertial>
</link>
<joint name="knee_back_leftL_link" type="continuous">
<axis xyz="0 1 0"/>
<parent link="upper_leg_back_leftL_link"/>
<child link="lower_leg_back_leftL_link"/>
<origin rpy="0 0 0" xyz="0.0 0.01 .055"/>
<limit effort="100" velocity="100"/>
<joint_properties damping="0.0" friction="0.0"/>
</joint>
</robot>

16
data/racecar/racecar.urdf
View File

@@ -8,8 +8,19 @@
<!-- geometry macros -->
<!-- transmission macros -->
<!-- Add chassis and it's inertia link -->
<link name="base_link"/>
<link name="base_link">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
</link>
<link name="chassis">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0.010609" ixy="0" ixz="0" iyy="0.050409" iyz="0" izz="0.05865"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
@@ -478,8 +489,5 @@
<material name="red">
<color rgba="0.8 0.0 0.0 1.0"/>
</material>
<material name="white">
<color rgba="1.0 1.0 1.0 1.0"/>
</material>
</robot>

30
data/sphere_small_zeroinertia.urdf Normal file
View File

@@ -0,0 +1,30 @@
<?xml version="0.0" ?>
<robot name="urdf_robot">
<link name="base_link">
<contact>
<rolling_friction value="0.001"/>
<spinning_friction value="0.001"/>
</contact>
<inertial>
<origin rpy="0 0 0" xyz="0 0 0"/>
<mass value=".1"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="textured_sphere_smooth.obj" scale="0.03 0.03 0.03"/>
</geometry>
<material name="white">
<color rgba="1 1 1 1"/>
</material>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.03"/>
</geometry>
</collision>
</link>
</robot>

27
data/table/license.txt Normal file
View File

@@ -0,0 +1,27 @@
LICENSE:
Copyright (c) 2017, Erwin Coumans
Google Inc.
All rights reserved.
Redistribution and use in source and binary forms, with or without
modification, are permitted provided that the following conditions are
met:
1. Redistributions or derived work must retain this copyright notice,
this list of conditions and the following disclaimer.
2. Redistributions in binary form must reproduce the above copyright
notice, this list of conditions and the following disclaimer in the
documentation and/or other materials provided with the distribution.
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS
IS" AND ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO,
THE IMPLIED WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR
PURPOSE ARE DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR
CONTRIBUTORS BE LIABLE FOR ANY DIRECT, INDIRECT, INCIDENTAL, SPECIAL,
EXEMPLARY, OR CONSEQUENTIAL DAMAGES (INCLUDING, BUT NOT LIMITED TO,
PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES; LOSS OF USE, DATA, OR
PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND ON ANY THEORY OF
LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT (INCLUDING
NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.

11
data/table/table2.mtl Normal file
View File

@@ -0,0 +1,11 @@
# Blender MTL File: 'table1.blend'
# Material Count: 1
newmtl None
Ns 0
Ka 0.000000 0.000000 0.000000
Kd 0.8 0.8 0.8
Ks 0.8 0.8 0.8
d 1
illum 2
map_Kd tabletop.jpg

2050
data/table/table2.obj Normal file
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32
data/table/table2.urdf Normal file
View File

@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube">
<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="-1.57079632679 0 0" xyz="0 0 0"/>
<geometry>
<mesh filename="table2.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>
<cylinder length="0.01" radius="0.5"/>
</geometry>
</collision>
</link>
</robot>

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10
docs/pybullet_quickstart_guide/PlainPreview/Article.md.html Normal file
View File

@@ -0,0 +1,10 @@
<meta charset="utf-8" lang="en">
Hello Markdeep!
- Hello
- lists!
Hello MathJax:
\[f(0)=\frac{1}{2\cdot\pi\cdot i}\cdot \oint_{|z|=1} \frac{f(z)}{z} \textrm{d}z\]
<script src="MarkdeepUtility.js"></script>

43
docs/pybullet_quickstart_guide/PlainPreview/BuildMarkdeepUtility.py Normal file
View File

@@ -0,0 +1,43 @@
import re
if(__name__=="__main__"):
# Assemble the script which embeds the Markdeep page into the preview blog
PreviewBlogPage=open("PreviewBlogPage.htm","rb").read().decode("utf-8");
HeadMatch=re.search("<head(.*?)>(.*?)</head>",PreviewBlogPage,re.DOTALL);
HeadAttributes=HeadMatch.group(1);
FullDocumentHead=HeadMatch.group(2);
BodyMatch=re.search("<body(.*?)>(.*?)</body>",PreviewBlogPage,re.DOTALL);
BodyAttributes=BodyMatch.group(1);
FullPreviewBody=BodyMatch.group(2);
ArticleHTMLCodeMacro="$(ARTICLE_HTML_CODE)";
iArticleHTMLCodeMacro=FullPreviewBody.find(ArticleHTMLCodeMacro);
DocumentBodyPrefix=FullPreviewBody[0:iArticleHTMLCodeMacro];
DocumentBodySuffix=FullPreviewBody[iArticleHTMLCodeMacro+len(ArticleHTMLCodeMacro):];
FullPrepareHTMLCode=open("PrepareHTML.js","rb").read().decode("utf-8");
ReplacementList=[
("$(FULL_DOCUMENT_HEAD)",FullDocumentHead),
("$(DOCUMENT_BODY_PREFIX)",DocumentBodyPrefix),
("$(DOCUMENT_BODY_SUFFIX)",DocumentBodySuffix)
];
for Macro,Replacement in ReplacementList:
FullPrepareHTMLCode=FullPrepareHTMLCode.replace(Macro,Replacement.replace("\r\n","\\r\\n\\\r\n").replace("'","\\'"));
# Generate code which sets body and head attributes appropriately
for Element,AttributeCode in [("head",HeadAttributes),("body",BodyAttributes)]:
FullPrepareHTMLCode+="\r\n// Setting "+Element+" attributes\r\n";
for Match in re.finditer("(\\w+)=\\\"(.*?)\\\"",AttributeCode):
FullPrepareHTMLCode+="document."+Element+".setAttribute(\""+Match.group(1)+"\",\""+Match.group(2)+"\");\r\n";
open("PrepareHTML.full.js","wb").write(FullPrepareHTMLCode.encode("utf-8"));
# Concatenate all the scripts together
SourceFileList=[
"PrepareHTML.full.js",
"SetMarkdeepMode.js",
"markdeep.min.js",
"DisplayMarkdeepOutput.js",
"InvokeMathJax.js"
];
OutputCode="\r\n\r\n".join(["// "+SourceFile+"\r\n\r\n"+open(SourceFile,"rb").read().decode("utf-8") for SourceFile in SourceFileList]);
OutputFile=open("MarkdeepUtility.js","wb");
OutputFile.write(OutputCode.encode("utf-8"));
OutputFile.close();
print("Done.");

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BodyHTML=document.body.innerHTML;
BeginTag="<!-- MARKDEEP_BEGIN -->";
EndTag="<!-- MARKDEEP_END -->";
BodyHTML=BodyHTML.slice(BodyHTML.indexOf(BeginTag)+BeginTag.length,BodyHTML.lastIndexOf(EndTag));
document.getElementById("BodyDisplayBox").textContent=BodyHTML;
document.head.innerHTML=FullDocumentHead;

4
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var MathjaxScript=document.createElement("script");
MathjaxScript.type="text/javascript";
MathjaxScript.src="https://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML";
document.head.appendChild(MathjaxScript);

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/** Converts <>&" to their HTML escape sequences */
function escapeHTMLEntities(str) {
return String(str).replace(/&/g, '&amp;').replace(/</g, '&lt;').replace(/>/g, '&gt;').replace(/"/g, '&quot;');
}
/** Restores the original source string's '<' and '>' as entered in
the document, before the browser processed it as HTML. There is no
way in an HTML document to distinguish an entity that was entered
as an entity.*/
function unescapeHTMLEntities(str) {
// Process &amp; last so that we don't recursively unescape
// escaped escape sequences.
return str.
replace(/&lt;/g, '<').
replace(/&gt;/g, '>').
replace(/&quot;/g, '"').
replace(/&#39;/g, "'").
replace(/&ndash;/g, '--').
replace(/&mdash;/g, '---').
replace(/&amp;/g, '&');
}
/**
\param node A node from an HTML DOM
\return A String that is a very good reconstruction of what the
original source looked like before the browser tried to correct
it to legal HTML.
*/
function nodeToMarkdeepSource(node, leaveEscapes) {
var source = node.innerHTML;
// Markdown uses <john@bar.com> e-mail syntax, which HTML parsing
// will try to close by inserting the matching close tags at the end of the
// document. Remove anything that looks like that and comes *after*
// the first fallback style.
source = source.replace(/(?:<style class="fallback">[\s\S]*?<\/style>[\s\S]*)<\/\S+@\S+\.\S+?>/gim, '');
// Remove artificially inserted close tags
source = source.replace(/<\/h?ttps?:.*>/gi, '');
// Now try to fix the URLs themselves, which will be
// transformed like this: <http: casual-effects.com="" markdeep="">
source = source.replace(/<(https?): (.*?)>/gi, function (match, protocol, list) {
// Remove any quotes--they wouldn't have been legal in the URL anyway
var s = '<' + protocol + '://' + list.replace(/=""\s/g, '/');
if (s.substring(s.length - 3) === '=""') {
s = s.substring(0, s.length - 3);
}
// Remove any lingering quotes (since they
// wouldn't have been legal in the URL)
s = s.replace(/"/g, '');
return s + '>';
});
// Remove the "fallback" style tags
source = source.replace(/<style class=["']fallback["']>.*?<\/style>/gmi, '');
source = unescapeHTMLEntities(source);
return source;
}
// $ (FULL_DOCUMENT_HEAD) is replaced by the contents of the <head> found in
// PreviewBlogPage.htm. This document head will overwrite whatever Markdeep does to
// the head at the very end.
FullDocumentHead='\
\r\n\
<meta http-equiv="content-type" content="text/html; charset=UTF-8">\r\n\
<meta charset="UTF-8">\r\n\
\r\n\
<!-- Markdeep styles -->\r\n\
<style>body{counter-reset: h1 h2 h3 h4 h5 h6}.md code,pre{font-family:Menlo,Consolas,monospace;font-size:15.018802542857143px;line-height:140%}.md div.title{font-size:26px;font-weight:800;line-height:120%;text-align:center}.md div.afterTitles{height:10px}.md div.subtitle{text-align:center}.md .image{display:inline-block}.md div.imagecaption,.md div.tablecaption,.md div.listingcaption{margin:0.2em 5px 10px 5px;text-align: justify;font-style:italic}.md div.imagecaption{margin-bottom:0}.md img{max-width:100%;page-break-inside:avoid}li{text-align:left};.md div.tilde{margin:20px 0 -10px;text-align:center}.md blockquote.fancyquote{margin:25px 0 25px;text-align:left;line-height:160%}.md blockquote.fancyquote::before{content:"“";color:#DDD;font-family:Times New Roman;font-size:45px;line-height:0;margin-right:6px;vertical-align:-0.3em}.md span.fancyquote{font-size:118%;color:#777;font-style:italic}.md span.fancyquote::after{content:"”";font-style:normal;color:#DDD;font-family:Times New Roman;font-size:45px;line-height:0;margin-left:6px;vertical-align:-0.3em}.md blockquote.fancyquote .author{width:100%;margin-top:10px;display:inline-block;text-align:right}.md small{font-size:60%}.md div.title,contents,.md .tocHeader,h1,h2,h3,h4,h5,h6,.md .shortTOC,.md .mediumTOC,.nonumberh1,.nonumberh2,.nonumberh3,.nonumberh4,.nonumberh5,.nonumberh6{font-family:Verdana,Helvetica,Arial,sans-serif;margin:13.4px 0 13.4px;padding:15px 0 3px;border-top:none;clear:both}.md svg.diagram{display:block;font-family:Menlo,Consolas,monospace;font-size:15.018802542857143px;text-align:center;stroke-linecap:round;stroke-width:2px;page-break-inside:avoid;stroke:#000;fill:#000}.md svg.diagram .opendot{fill:#FFF}.md svg.diagram text{stroke:none}.md h1,.tocHeader,.nonumberh1{border-bottom:3px solid;font-size:20px;font-weight:bold;}h1,.nonumberh1{counter-reset: h2 h3 h4 h5 h6}h2,.nonumberh2{counter-reset: h3 h4 h5 h6;border-bottom:2px solid #999;color:#555;font-size:18px;}h3,h4,h5,h6,.nonumberh3,.nonumberh4,.nonumberh5,.nonumberh6{font-family:Helvetica,Arial,sans-serif;color:#555;font-size:16px;}h3{counter-reset:h4 h5 h6}h4{counter-reset:h5 h6}h5{counter-reset:h6}.md table{border-collapse:collapse;line-height:140%;page-break-inside:avoid}.md table.table{margin:auto}.md table.calendar{width:100%;margin:auto;font-size:11px;font-family:Helvetica,Arial,sans-serif}.md table.calendar th{font-size:16px}.md .today{background:#ECF8FA}.md .calendar .parenthesized{color:#999;font-style:italic}.md div.tablecaption{text-align:center}.md table.table th{color:#FFF;background-color:#AAA;border:1px solid #888;padding:8px 15px 8px 15px}.md table.table td{padding:5px 15px 5px 15px;border:1px solid #888}.md table.table tr:nth-child(even){background:#EEE}.md pre.tilde{border-top: 1px solid #CCC;border-bottom: 1px solid #CCC;padding: 5px 0 5px 20px;margin:0 0 30px 0;background:#FCFCFC;page-break-inside:avoid}.md a:link, .md a:visited{color:#38A;text-decoration:none}.md a:link:hover{text-decoration:underline}.md dt{font-weight:700}dl>.md dd{padding:0 0 18px}.md dl>table{margin:35px 0 30px}.md code{white-space:pre;page-break-inside:avoid}.md .endnote{font-size:13px;line-height:15px;padding-left:10px;text-indent:-10px}.md .bib{padding-left:80px;text-indent:-80px;text-align:left}.markdeepFooter{font-size:9px;text-align:right;padding-top:80px;color:#999}.md .mediumTOC{float:right;font-size:12px;line-height:15px;border-left:1px solid #CCC;padding-left:15px;margin:15px 0px 15px 25px}.md .mediumTOC .level1{font-weight:600}.md .longTOC .level1{font-weight:600;display:block;padding-top:12px;margin:0 0 -20px}.md .shortTOC{text-align:center;font-weight:bold;margin-top:15px;font-size:14px}</style>\r\n\
\r\n\
<!-- hljs styles -->\r\n\
<style>.hljs{display:block;overflow-x:auto;padding:0.5em;background:#fff;color:#000;-webkit-text-size-adjust:none}.hljs-comment{color:#006a00}.hljs-keyword{color:#02E}.hljs-literal,.nginx .hljs-title{color:#aa0d91}.method,.hljs-list .hljs-title,.hljs-tag .hljs-title,.setting .hljs-value,.hljs-winutils,.tex .hljs-command,.http .hljs-title,.hljs-request,.hljs-status,.hljs-name{color:#008}.hljs-envvar,.tex .hljs-special{color:#660}.hljs-string{color:#c41a16}.hljs-tag .hljs-value,.hljs-cdata,.hljs-filter .hljs-argument,.hljs-attr_selector,.apache .hljs-cbracket,.hljs-date,.hljs-regexp{color:#080}.hljs-sub .hljs-identifier,.hljs-pi,.hljs-tag,.hljs-tag .hljs-keyword,.hljs-decorator,.ini .hljs-title,.hljs-shebang,.hljs-prompt,.hljs-hexcolor,.hljs-rule .hljs-value,.hljs-symbol,.hljs-symbol .hljs-string,.hljs-number,.css .hljs-function,.hljs-function .hljs-title,.coffeescript .hljs-attribute{color:#A0C}.hljs-function .hljs-title{font-weight:bold;color:#000}.hljs-class .hljs-title,.smalltalk .hljs-class,.hljs-type,.hljs-typename,.hljs-tag .hljs-attribute,.hljs-doctype,.hljs-class .hljs-id,.hljs-built_in,.setting,.hljs-params,.clojure .hljs-attribute{color:#5c2699}.hljs-variable{color:#3f6e74}.css .hljs-tag,.hljs-rule .hljs-property,.hljs-pseudo,.hljs-subst{color:#000}.css .hljs-class,.css .hljs-id{color:#9b703f}.hljs-value .hljs-important{color:#ff7700;font-weight:bold}.hljs-rule .hljs-keyword{color:#c5af75}.hljs-annotation,.apache .hljs-sqbracket,.nginx .hljs-built_in{color:#9b859d}.hljs-preprocessor,.hljs-preprocessor *,.hljs-pragma{color:#643820}.tex .hljs-formula{background-color:#eee;font-style:italic}.diff .hljs-header,.hljs-chunk{color:#808080;font-weight:bold}.diff .hljs-change{background-color:#bccff9}.hljs-addition{background-color:#baeeba}.hljs-deletion{background-color:#ffc8bd}.hljs-comment .hljs-doctag{font-weight:bold}.method .hljs-id{color:#000}</style>\r\n\
\
';
// This code is placed at the beginning of the body before the Markdeep code.
// $ (DOCUMENT_BODY_PREFIX) is everything in the body of PreviewBlogPage.htm up to
// $ (ARTICLE_HTML_CODE).
DocumentBodyPrefix='\
\r\n\
\
<!-- MARKDEEP_BEGIN -->\
<pre class="markdeep">\
';
// This code is placed at the end of the body after the Markdeep code.
// $ (DOCUMENT_BODY_SUFFIX) is everything in the body of PreviewBlogPage.htm after
// $ (ARTICLE_HTML_CODE).
DocumentBodySuffix='\
</pre>\
<!-- MARKDEEP_END -->\
<div>Document &lt;body&gt; code:<br/>\
<textarea cols="40" rows="10" id="BodyDisplayBox"></textarea></div>\
\r\n\
\
';
// Get the full Markdeep code from the .md.html file without the script invocation
MarkdeepCode=nodeToMarkdeepSource(document.body);
MarkdeepCode=MarkdeepCode.slice(0,MarkdeepCode.lastIndexOf("<script"));
// Bring it into a form where it can be pasted into an HTML document
SanitizedMarkdeepCode=escapeHTMLEntities(MarkdeepCode);
// Surround it by the prefix and suffix code and set that as body code
document.body.innerHTML=DocumentBodyPrefix+SanitizedMarkdeepCode+DocumentBodySuffix;
// Setting head attributes
// Setting body attributes

102
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/** Converts <>&" to their HTML escape sequences */
function escapeHTMLEntities(str) {
return String(str).replace(/&/g, '&amp;').replace(/</g, '&lt;').replace(/>/g, '&gt;').replace(/"/g, '&quot;');
}
/** Restores the original source string's '<' and '>' as entered in
the document, before the browser processed it as HTML. There is no
way in an HTML document to distinguish an entity that was entered
as an entity.*/
function unescapeHTMLEntities(str) {
// Process &amp; last so that we don't recursively unescape
// escaped escape sequences.
return str.
replace(/&lt;/g, '<').
replace(/&gt;/g, '>').
replace(/&quot;/g, '"').
replace(/&#39;/g, "'").
replace(/&ndash;/g, '--').
replace(/&mdash;/g, '---').
replace(/&amp;/g, '&');
}
/**
\param node A node from an HTML DOM
\return A String that is a very good reconstruction of what the
original source looked like before the browser tried to correct
it to legal HTML.
*/
function nodeToMarkdeepSource(node, leaveEscapes) {
var source = node.innerHTML;
// Markdown uses <john@bar.com> e-mail syntax, which HTML parsing
// will try to close by inserting the matching close tags at the end of the
// document. Remove anything that looks like that and comes *after*
// the first fallback style.
source = source.replace(/(?:<style class="fallback">[\s\S]*?<\/style>[\s\S]*)<\/\S+@\S+\.\S+?>/gim, '');
// Remove artificially inserted close tags
source = source.replace(/<\/h?ttps?:.*>/gi, '');
// Now try to fix the URLs themselves, which will be
// transformed like this: <http: casual-effects.com="" markdeep="">
source = source.replace(/<(https?): (.*?)>/gi, function (match, protocol, list) {
// Remove any quotes--they wouldn't have been legal in the URL anyway
var s = '<' + protocol + '://' + list.replace(/=""\s/g, '/');
if (s.substring(s.length - 3) === '=""') {
s = s.substring(0, s.length - 3);
}
// Remove any lingering quotes (since they
// wouldn't have been legal in the URL)
s = s.replace(/"/g, '');
return s + '>';
});
// Remove the "fallback" style tags
source = source.replace(/<style class=["']fallback["']>.*?<\/style>/gmi, '');
source = unescapeHTMLEntities(source);
return source;
}
// $ (FULL_DOCUMENT_HEAD) is replaced by the contents of the <head> found in
// PreviewBlogPage.htm. This document head will overwrite whatever Markdeep does to
// the head at the very end.
FullDocumentHead='\
$(FULL_DOCUMENT_HEAD)\
';
// This code is placed at the beginning of the body before the Markdeep code.
// $ (DOCUMENT_BODY_PREFIX) is everything in the body of PreviewBlogPage.htm up to
// $ (ARTICLE_HTML_CODE).
DocumentBodyPrefix='\
$(DOCUMENT_BODY_PREFIX)\
<!-- MARKDEEP_BEGIN -->\
<pre class="markdeep">\
';
// This code is placed at the end of the body after the Markdeep code.
// $ (DOCUMENT_BODY_SUFFIX) is everything in the body of PreviewBlogPage.htm after
// $ (ARTICLE_HTML_CODE).
DocumentBodySuffix='\
</pre>\
<!-- MARKDEEP_END -->\
<div>Document &lt;body&gt; code:<br/>\
<textarea cols="40" rows="10" id="BodyDisplayBox"></textarea></div>\
$(DOCUMENT_BODY_SUFFIX)\
';
// Get the full Markdeep code from the .md.html file without the script invocation
MarkdeepCode=nodeToMarkdeepSource(document.body);
MarkdeepCode=MarkdeepCode.slice(0,MarkdeepCode.lastIndexOf("<script"));
// Bring it into a form where it can be pasted into an HTML document
SanitizedMarkdeepCode=escapeHTMLEntities(MarkdeepCode);
// Surround it by the prefix and suffix code and set that as body code
document.body.innerHTML=DocumentBodyPrefix+SanitizedMarkdeepCode+DocumentBodySuffix;

17
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View File

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<!DOCTYPE html>
<html lang="en-US">
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
<meta charset="UTF-8">
<!-- Markdeep styles -->
<style>body{counter-reset: h1 h2 h3 h4 h5 h6}.md code,pre{font-family:Menlo,Consolas,monospace;font-size:15.018802542857143px;line-height:140%}.md div.title{font-size:26px;font-weight:800;line-height:120%;text-align:center}.md div.afterTitles{height:10px}.md div.subtitle{text-align:center}.md .image{display:inline-block}.md div.imagecaption,.md div.tablecaption,.md div.listingcaption{margin:0.2em 5px 10px 5px;text-align: justify;font-style:italic}.md div.imagecaption{margin-bottom:0}.md img{max-width:100%;page-break-inside:avoid}li{text-align:left};.md div.tilde{margin:20px 0 -10px;text-align:center}.md blockquote.fancyquote{margin:25px 0 25px;text-align:left;line-height:160%}.md blockquote.fancyquote::before{content:"“";color:#DDD;font-family:Times New Roman;font-size:45px;line-height:0;margin-right:6px;vertical-align:-0.3em}.md span.fancyquote{font-size:118%;color:#777;font-style:italic}.md span.fancyquote::after{content:"”";font-style:normal;color:#DDD;font-family:Times New Roman;font-size:45px;line-height:0;margin-left:6px;vertical-align:-0.3em}.md blockquote.fancyquote .author{width:100%;margin-top:10px;display:inline-block;text-align:right}.md small{font-size:60%}.md div.title,contents,.md .tocHeader,h1,h2,h3,h4,h5,h6,.md .shortTOC,.md .mediumTOC,.nonumberh1,.nonumberh2,.nonumberh3,.nonumberh4,.nonumberh5,.nonumberh6{font-family:Verdana,Helvetica,Arial,sans-serif;margin:13.4px 0 13.4px;padding:15px 0 3px;border-top:none;clear:both}.md svg.diagram{display:block;font-family:Menlo,Consolas,monospace;font-size:15.018802542857143px;text-align:center;stroke-linecap:round;stroke-width:2px;page-break-inside:avoid;stroke:#000;fill:#000}.md svg.diagram .opendot{fill:#FFF}.md svg.diagram text{stroke:none}.md h1,.tocHeader,.nonumberh1{border-bottom:3px solid;font-size:20px;font-weight:bold;}h1,.nonumberh1{counter-reset: h2 h3 h4 h5 h6}h2,.nonumberh2{counter-reset: h3 h4 h5 h6;border-bottom:2px solid #999;color:#555;font-size:18px;}h3,h4,h5,h6,.nonumberh3,.nonumberh4,.nonumberh5,.nonumberh6{font-family:Helvetica,Arial,sans-serif;color:#555;font-size:16px;}h3{counter-reset:h4 h5 h6}h4{counter-reset:h5 h6}h5{counter-reset:h6}.md table{border-collapse:collapse;line-height:140%;page-break-inside:avoid}.md table.table{margin:auto}.md table.calendar{width:100%;margin:auto;font-size:11px;font-family:Helvetica,Arial,sans-serif}.md table.calendar th{font-size:16px}.md .today{background:#ECF8FA}.md .calendar .parenthesized{color:#999;font-style:italic}.md div.tablecaption{text-align:center}.md table.table th{color:#FFF;background-color:#AAA;border:1px solid #888;padding:8px 15px 8px 15px}.md table.table td{padding:5px 15px 5px 15px;border:1px solid #888}.md table.table tr:nth-child(even){background:#EEE}.md pre.tilde{border-top: 1px solid #CCC;border-bottom: 1px solid #CCC;padding: 5px 0 5px 20px;margin:0 0 30px 0;background:#FCFCFC;page-break-inside:avoid}.md a:link, .md a:visited{color:#38A;text-decoration:none}.md a:link:hover{text-decoration:underline}.md dt{font-weight:700}dl>.md dd{padding:0 0 18px}.md dl>table{margin:35px 0 30px}.md code{white-space:pre;page-break-inside:avoid}.md .endnote{font-size:13px;line-height:15px;padding-left:10px;text-indent:-10px}.md .bib{padding-left:80px;text-indent:-80px;text-align:left}.markdeepFooter{font-size:9px;text-align:right;padding-top:80px;color:#999}.md .mediumTOC{float:right;font-size:12px;line-height:15px;border-left:1px solid #CCC;padding-left:15px;margin:15px 0px 15px 25px}.md .mediumTOC .level1{font-weight:600}.md .longTOC .level1{font-weight:600;display:block;padding-top:12px;margin:0 0 -20px}.md .shortTOC{text-align:center;font-weight:bold;margin-top:15px;font-size:14px}</style>
<!-- hljs styles -->
<style>.hljs{display:block;overflow-x:auto;padding:0.5em;background:#fff;color:#000;-webkit-text-size-adjust:none}.hljs-comment{color:#006a00}.hljs-keyword{color:#02E}.hljs-literal,.nginx .hljs-title{color:#aa0d91}.method,.hljs-list .hljs-title,.hljs-tag .hljs-title,.setting .hljs-value,.hljs-winutils,.tex .hljs-command,.http .hljs-title,.hljs-request,.hljs-status,.hljs-name{color:#008}.hljs-envvar,.tex .hljs-special{color:#660}.hljs-string{color:#c41a16}.hljs-tag .hljs-value,.hljs-cdata,.hljs-filter .hljs-argument,.hljs-attr_selector,.apache .hljs-cbracket,.hljs-date,.hljs-regexp{color:#080}.hljs-sub .hljs-identifier,.hljs-pi,.hljs-tag,.hljs-tag .hljs-keyword,.hljs-decorator,.ini .hljs-title,.hljs-shebang,.hljs-prompt,.hljs-hexcolor,.hljs-rule .hljs-value,.hljs-symbol,.hljs-symbol .hljs-string,.hljs-number,.css .hljs-function,.hljs-function .hljs-title,.coffeescript .hljs-attribute{color:#A0C}.hljs-function .hljs-title{font-weight:bold;color:#000}.hljs-class .hljs-title,.smalltalk .hljs-class,.hljs-type,.hljs-typename,.hljs-tag .hljs-attribute,.hljs-doctype,.hljs-class .hljs-id,.hljs-built_in,.setting,.hljs-params,.clojure .hljs-attribute{color:#5c2699}.hljs-variable{color:#3f6e74}.css .hljs-tag,.hljs-rule .hljs-property,.hljs-pseudo,.hljs-subst{color:#000}.css .hljs-class,.css .hljs-id{color:#9b703f}.hljs-value .hljs-important{color:#ff7700;font-weight:bold}.hljs-rule .hljs-keyword{color:#c5af75}.hljs-annotation,.apache .hljs-sqbracket,.nginx .hljs-built_in{color:#9b859d}.hljs-preprocessor,.hljs-preprocessor *,.hljs-pragma{color:#643820}.tex .hljs-formula{background-color:#eee;font-style:italic}.diff .hljs-header,.hljs-chunk{color:#808080;font-weight:bold}.diff .hljs-change{background-color:#bccff9}.hljs-addition{background-color:#baeeba}.hljs-deletion{background-color:#ffc8bd}.hljs-comment .hljs-doctag{font-weight:bold}.method .hljs-id{color:#000}</style>
</head>
<body>
$(ARTICLE_HTML_CODE)
</body>
</html>

1
docs/pybullet_quickstart_guide/PlainPreview/SetMarkdeepMode.js Normal file
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@@ -0,0 +1 @@
window.markdeepOptions={mode:"html"};

29
docs/pybullet_quickstart_guide/PlainPreview/ShowHeadAdditions.html Normal file
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@@ -0,0 +1,29 @@
<!DOCTYPE html>
<html lang="en-US">
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
<meta charset="UTF-8">
<body>
<script>window.markdeepOptions={mode:"script"};</script>
<script src="./markdeep.min.js"></script>
<div>Document &lt;head&gt; additions:<br/>
<textarea cols="80" rows="40" id="HeadDisplayBox"></textarea></div>
<script>
// Get the complete Markdeep and hljs stylesheet
FullStylesheet=window.markdeep.stylesheet();
// It should consist of three <style> tags which we pick apart
StyleTagList=FullStylesheet.split("<style>");
// The second one defines section number, which we do not want, so we
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<meta charset="utf-8"><!-- -*- markdown -*- -->
**PyBullet Quickstart Guide**
[Erwin Coumans](http://twitter.com/erwincoumans), [Google Brain Robotics](https://research.google.com/teams/brain/robotics), <erwincoumans@google.com>
[Yunfei Bai](http://yunfei-bai.com), [X](https://x.company), <yunfeibai@x.team>
Introduction
======================================================================================
pybullet is an easy to use Python module for physics simulation for robotics, games, visual effects and machine learning. With pybullet you can load articulated bodies from URDF, SDF, MJCF and other file formats. pybullet provides forward dynamics simulation, inverse dynamics computation, forward and inverse kinematics, collision detection and ray intersection queries. The Bullet Physics SDK includes pybullet robotic examples such as a simulated Minitaur quadruped, humanoids running using TensorFlow inference and KUKA arms grasping objects.
![<small>[CoRL VR BotLab demo](https://github.com/erwincoumans/pybullet_robots/tree/master/corl_demo)
</small>](images/CoRL_VR_demo.png width="80%" border="2")
Aside from physics simulation, there are bindings to rendering, with a CPU renderer (TinyRenderer) and OpenGL visualization and support for Virtual Reality headsets such as HTC Vive and Oculus Rift. pybullet also has functionality to perform collision detection queries (closest points, overlapping pairs, ray intersection test etc) and to add debug rendering (debug lines and text). pybullet has cross-platform built-in client-server support for shared memory, UDP and TCP networking. So you can run pybullet on Linux connecting to a Windows VR server.
pybullet wraps the new Bullet C-API, which is designed to be independent from the underlying physics engine and render engine, so we can easily migrate to newer versions of Bullet, or use a different physics engine or render engine. By default, pybullet uses the Bullet 2.x API on the CPU. We will expose Bullet 3.x running on GPU using OpenCL as well. There is also a C++ API similar to pybullet, see b3RobotSimulatorClientAPI.
pybullet can be easily used with TensorFlow and frameworks such as OpenAI Gym. Researchers from Google Brain [1,2], X, Stanford AI Lab and OpenAI use pybullet/Bullet C-API.
The installation of pybullet is as simple as (sudo) pip install pybullet (Python 2.x), pip3 install pybullet. This will expose the pybullet module as well as pybullet_envs Gym environments.
Hello pybullet World
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ python
import pybullet as p
import pybullet_data
physicsClient = p.connect(p.GUI)#or p.DIRECT for non-graphical version
p.setAdditionalSearchPath(pybullet_data.getDataPath()) #used by loadURDF
p.setGravity(0,0,-10)
planeId = p.loadURDF("plane.urdf")
cubeStartPos = [0,0,1]
cubeStartOrientation = p.getQuaternionFromEuler([0,0,0])
boxId = p.loadURDF("r2d2.urdf",cubeStartPos, cubeStartOrientation)
p.stepSimulation()
cubePos, cubeOrn = p.getBasePositionAndOrientation(boxId)
print(cubePos,cubeOrn)
p.disconnect()
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
connect, disconnect
--------------------------------------------------------------------------------------------
After importing the pybullet module, the first thing to do is 'connecting' to the physics simulation. pybullet is designed around a client-server driven API, with a client sending commands and a physics server returning the status. pybullet has some built-in physics servers: DIRECT and GUI. Both GUI and DIRECT connections will execute the physics simulation and rendering in the same process as pybullet.
Note that in DIRECT mode you cannot access the OpenGL and VR hardware features, as described in the "Virtual Reality" and "Debug GUI, Lines, Text, Parameters" chapters. DIRECT mode does allow rendering of images using the built-in software renderer through the 'getCameraImage' API. This can be useful for running simulations in the cloud on servers without GPU.
You can provide your own data files, or you can use the pybullet_data package that ships with pybullet. For this, import pybullet_data and register the directory using pybullet.setAdditionalSearchPath(pybullet_data.getDataPath()).
getConnectionInfo
--------------------------------------------------------------------------------------------
Given a physicsClientId will return the list [isConnected, connectionMethod]
connect using DIRECT, GUI
--------------------------------------------------------------------------------------------
The DIRECT connection sends the commands directly to the physics engine, without using any transport layer and no graphics visualization window, and directly returns the status after executing the command.
The GUI connection will create a new graphical user interface (GUI) with 3D OpenGL rendering, within the same process space as pybullet. On Linux and Windows this GUI runs in a separate thread, while on OSX it runs in the same thread due to operating system limitations. On Mac OSX you may see a spinning wheel in the OpenGL Window, until you run a 'stepSimulation' or other pybullet command.
The commands and status messages are sent between pybullet client and the GUI physics simulation server using an ordinary memory buffer.
It is also possible to connect to a physics server in a different process on the same machine or on a remote machine using SHARED_MEMORY, UDP or TCP networking. See the section about Shared Memory, UDP and TCP for details.
Unlike almost all other methods, this method doesn't parse keyword arguments, due to backward compatibility.
The connect input arguments are:
| field | name | type | description |
|----------|---------------------------------|-----------------------------------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| required | connection mode | integer: DIRECT, GUI, SHARED_MEMORY, UDP, TCP | DIRECT mode create a new physics engine and directly communicates with it. GUI will create a physics engine with graphical GUI frontend and communicates with it. SHARED_MEMORY will connect to an existing physics engine process on the same machine, and communicates with it over shared memory. TCP or UDP will connect to an existing physics server over TCP or UDP networking. |
| optional | key | int | in SHARED_MEMORY mode, optional shared memory key. When starting ExampleBrowser or SharedMemoryPhysics_* you can use optional command-line --shared_memory_key to set the key. This allows to run multiple servers on the same machine. |
| optional | UdpNetworkAddress (UDP and TCP) | string | IP address or host name, for example "127.0.0.1" or "localhost" or "mymachine.domain.com" |
| optional | UdpNetworkPort (UDP and TCP) | integer | UDP port number. Default UDP port is 1234, default TCP port is 6667 (matching the defaults in the server) |
| optional | options | string | command-line option passed into the GUI server. At the moment, only the --opengl2 flag is enabled: by default, Bullet uses OpenGL3, but some environments such as virtual machines or remote desktop clients only support OpenGL2. Only one command-line argument can be passed on at the moment. |
connect returns a physics client id or -1 if not connected. The physics client Id is an optional argument to most of the other pybullet commands. If you don't provide it, it will assume physics client id = 0. You can connect to multiple different physics servers, except for GUI.
For example:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ python
pybullet.connect(pybullet.DIRECT)
pybullet.connect(pybullet.GUI, options="--opengl2")
pybullet.connect(pybullet.SHARED_MEMORY,1234)
pybullet.connect(pybullet.UDP,"192.168.0.1")
pybullet.connect(pybullet.UDP,"localhost", 1234)
pybullet.connect(pybullet.TCP,"localhost", 6667)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
connect using Shared Memory
--------------------------------------------------------------------------------------------
There are a few physics servers that allow shared memory connection: the App_SharedMemoryPhysics, App_SharedMemoryPhysics_GUI and the Bullet Example Browser has one example under Experimental/Physics Server that allows shared memory connection. This will let you execute the physics simulation and rendering in a separate process.
You can also connect over shared memory to the App_SharedMemoryPhysics_VR, the Virtual Reality application with support for head-mounted display and 6-dof tracked controllers such as HTC Vive and Oculus Rift with Touch controllers. Since the Valve OpenVR SDK only works properly under Windows, the App_SharedMemoryPhysics_VR can only be build under Windows using premake (preferably) or cmake.
connect using UDP or TCP networking
--------------------------------------------------------------------------------------------
For UDP networking, there is a App_PhysicsServerUDP that listens to a certain UDP port. It uses the open source enet library for reliable UDP networking. This allows you to execute the physics simulation and rendering on a separate machine. For TCP pybullet uses the clsocket library. This can be useful when using SSH tunneling from a machine behind a firewall to a robot simulation. For example you can run a control stack or machine learning using pybullet on Linux, while running the physics server on Windows in Virtual Reality using HTC Vive or Rift.
One more UDP application is the App_PhysicsServerSharedMemoryBridgeUDP application that acts as a bridge to an existing physics server: you can connect over UDP to this bridge, and the bridge connects to a physics server using shared memory: the bridge passes messages between client and server. In a similar way there is a TCP version (replace UDP by TCP).
Note: at the moment, both client and server need to be either 32bit or 64bit builds!
disconnect
--------------------------------------------------------------------------------------------
You can disconnect from a physics server, using the physics client Id returned by the connect call (if non-negative). A 'DIRECT' or 'GUI' physics server will shutdown. A separate (out-of-process) physics server will keep on running. See also 'resetSimulation' to remove all items.
Parameters of disconnect:
| field | name | type | description |
|----------|-----------------|------|---------------------------------------------------------------------|
| optional | physicsClientId | int | if you connect to multiple physics servers, you can pick which one. |
setGravity
--------------------------------------------------------------------------------------------
By default, there is no gravitational force enabled. setGravity lets you set the default gravity force for all objects.
The setGravity input parameters are: (no return value)
| field | name | type | description |
|----------|-----------------|-------|---------------------------------------------------------------------|
| required | gravityX | float | gravity force along the X world axis |
| required | gravityY | float | gravity force along the Y world axis |
| required | gravityZ | float | gravity force along the Z world axis |
| required | physicsClientId | int | if you connect to multiple physics servers, you can pick which one. |
loadURDF
--------------------------------------------------------------------------------------------
The loadURDF will send a command to the physics server to load a physics model from a Universal Robot Description File (URDF). The URDF file is used by the ROS project (Robot Operating System) to describe robots and other objects, it was created by the WillowGarage and the Open Source Robotics Foundation (OSRF). Many robots have public URDF files, you can find a description and tutorial here: http://wiki.ros.org/urdf/Tutorials
Important note: most joints (slider, revolute, continuous) have motors enabled by default that prevent free motion. This is similar to a robot joint with a very high-friction harmonic drive. You should set the joint motor control mode and target settings using pybullet.setJointMotorControl2. See the setJointMotorControl2 API for more information.
Warning: by default, pybullet will cache some files to speed up loading. You can disable file caching using setPhysicsEngineParameter(enableFileCaching=0).
The loadURDF arguments are:
| option | name | type | description |
|----------|-----------------------|--------|---------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| required | fileName | string | a relative or absolute path to the URDF file on the file system of the physics server. |
| optional | basePosition | vec3 | create the base of the object at the specified position in world space coordinates [X,Y,Z] |
| optional | baseOrientation | vec4 | create the base of the object at the specified orientation as world space quaternion [X,Y,Z,W] |
| optional | useMaximalCoordinates | int | Experimental. By default, the joints in the URDF file are created using the reduced coordinate method: the joints are simulated using the Featherstone Articulated Body algorithm (btMultiBody in Bullet 2.x). The useMaximalCoordinates option will create a 6 degree of freedom rigid body for each link, and constraints between those rigid bodies are used to model joints. |
| optional | useFixedBase | int | force the base of the loaded object to be static |
| optional | flags | int | URDF_USE_INERTIA_FROM_FILE: by default, Bullet recomputed the inertia tensor based on mass and volume of the collision shape. If you can provide more accurate inertia tensor, use this flag.URDF_USE_SELF_COLLISION: by default, Bullet disables self-collision. This flag let's you enable it. You can customize the self-collision behavior using the following flags: URDF_USE_SELF_COLLISION_EXCLUDE_PARENT will discard self-collision between links that are directly connected (parent and child).URDF_USE_SELF_COLLISION_EXCLUDE_ALL_PARENTS will discard self-collisions between a child link and any of its ancestors (parents, parents of parents, up to the base). |
| optional | globalScaling | float | globalScaling will apply a scale factor to the URDF model. |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
loadURDF returns a body unique id, a non-negative integer value. If the URDF file cannot be loaded, this integer will be negative and not a valid body unique id.
loadBullet, loadSDF, loadMJCF
--------------------------------------------------------------------------------------------
You can also load objects from other file formats, such as .bullet, .sdf and .mjcf. Those file formats support multiple objects, so the return value is a list of object unique ids. The SDF format is explained in detail at http://sdformat.org. The loadSDF command only extracts some essential parts of the SDF related to the robot models and geometry, and ignores many elements related to cameras, lights and so on. The loadMJCF command performs basic import of MuJoCo MJCF xml files, used in OpenAI Gym. See also the Important note under loadURDF related to default joint motor settings, and make sure to use setJointMotorControl2.
| option | name | type | description |
|----------|-----------------------|--------|-------------------------------------------------------------------------------------------------------------------------------|
| required | fileName | string | a relative or absolute path to the URDF file on the file system of the physics server. |
| optional | useMaximalCoordinates | int | Experimental. See loadURDF for more details. |
| optional | globalScaling | float | every object will be scaled using this scale factor (including links, link frames, joint attachments and linear joint limits) |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
loadBullet, loadSDF and loadMJCF will return an array of object unique ids:
| name | type | description |
|-----------------|-------------|----------------------------------------------------------------|
| objectUniqueIds | list of int | the list includes the object unique id for each object loaded. |
createCollisionShape/VisualShape
--------------------------------------------------------------------------------------------
Although the recommended and easiest way to create stuff in the world is using the loading functions (loadURDF/SDF/MJCF/Bullet), you can also create collision and visual shapes programmatically and use them to create a multi body using createMultiBody. See the createMultiBodyLinks.py and createVisualShape.py example in the Bullet Physics SDK.
The input parameters for createCollisionShape are
| option | name | type | description |
|----------|-----------------|-----------------------|----------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| required | shapeType | int | GEOM_SPHERE, GEOM_BOX, GEOM_CAPSULE, GEOM_CYLINDER, GEOM_PLANE, GEOM_MESH |
| optional | radius | float | default 0.5: GEOM_SPHERE, GEOM_CAPSULE, GEOM_CYLINDER |
| optional | halfExtents | vec3 list of 3 floats | default [1,1,1]: for GEOM_BOX |
| optional | height | float | default: 1: for GEOM_CAPSULE, GEOM_CYLINDER |
| optional | fileName | string | Filename for GEOM_MESH, currently only Wavefront .obj. Will create convex hulls for each object (marked as 'o') in the .obj file. |
| optional | meshScale | vec3 list of 3 floats | default: [1,1,1], for GEOM_MESH |
| optional | planeNormal | vec3 list of 3 floats | default: [0,0,1] for GEOM_PLANE |
| optional | flags | int | GEOM_FORCE_CONCAVE_TRIMESH: for GEOM_MESH, this will create a concave static triangle mesh. This should not be used with dynamic / moving objects, only for static (mass = 0) terrain. |
| optional | physicsClientId | int | If you are connected to multiple servers, you can pick one. |
The return value is a non-negative int unique id for the collision shape or -1 if the call failed.
createVisualShape
--------------------------------------------------------------------------------------------
You can create a visual shape in a similar way to creating a collision shape, with some additional arguments to control the visual appearance, such as diffuse and specular color. When you use the GEOM_MESH type, you can point to a Wavefront OBJ file, and the visual shape will parse some parameters from the material file (.mtl) and load a texture. Note that large textures (above 1024x1024 pixels) can slow down the loading and run-time performance.
The input parameters are
| option | name | type | description |
|----------|------------------------|------------------------|-----------------------------------------------------------------------------------------------------------------------------------|
| required | shapeType | int | GEOM_SPHERE, GEOM_BOX, GEOM_CAPSULE, GEOM_CYLINDER, GEOM_PLANE, GEOM_MESH |
| optional | radius | float | default 0.5: GEOM_SPHERE, GEOM_CAPSULE, GEOM_CYLINDER |
| optional | halfExtents | vec3 list of 3 floats | default [1,1,1]: for GEOM_BOX |
| optional | height | float | default: 1: for GEOM_CAPSULE, GEOM_CYLINDER |
| optional | fileName | string | Filename for GEOM_MESH, currently only Wavefront .obj. Will create convex hulls for each object (marked as 'o') in the .obj file. |
| optional | meshScale | vec3 list of 3 floats | default: [1,1,1], for GEOM_MESH |
| optional | planeNormal | vec3 list of 3 floats | default: [0,0,1] for GEOM_PLANE |
| optional | flags | int | unused at the moment |
| optional | rgbaColor | vec4, list of 4 floats | color components for red, green, blue and alpha, each in range [0..1]. |
| optional | specularColor | vec3, list of 3 floats | specular reflection color, red, green, blue components in range [0..1] |
| optional | visualFramePosition | vec3, list of 3 floats | translational offset of the visual shape with respect to the link frame |
| optional | visualFrameOrientation | vec4, list of 4 floats | rotational offset (quaternion x,y,z,w) of the visual shape with respect to the link frame |
| optional | physicsClientId | int | If you are connected to multiple servers, you can pick one. |
The return value is a non-negative int unique id for the visual shape or -1 if the call failed.
createMultiBody
--------------------------------------------------------------------------------------------
Although the easiest way to create stuff in the world is using the loading functions (loadURDF/SDF/MJCF/Bullet), you can create a multi body using createMultiBody.
See the createMultiBodyLinks.py example in the Bullet Physics SDK. The parameters of createMultiBody are very similar to URDF and SDF parameters.
You can create a multi body with only a single base without joints/child links or you can create a multi body with joints/child links. If you provide links, make sure the size of every list is the same (len(linkMasses) == len(linkCollisionShapeIndices) etc). The input parameters for createMultiBody are:
| option | name | type | description |
|----------|-------------------------------|------------------------|---------------------------------------------------------------------------------------------------------------------------|
| optional | baseMass | float | mass of the base, in kg (if using SI units) |
| optional | baseCollisionShapeIndex | int | unique id from createCollisionShape or -1. You can re-use the collision shape for multiple multibodies (instancing) |
| optional | baseVisualShapeIndex | int | unique id from createVisualShape or -1. You can reuse the visual shape (instancing) |
| optional | basePosition | vec3, list of 3 floats | Cartesian world position of the base |
| optional | baseOrientation | vec4, list of 4 floats | Orientation of base as quaternion [x,y,z,w] |
| optional | baseInertialFramePosition | vec3, list of 3 floats | Local position of inertial frame |
| optional | baseInertialFrameOrientation | vec4, list of 4 floats | Local orientation of inertial frame, [x,y,z,w] |
| optional | linkMasses | list of float | List of the mass values, one for each link. |
| optional | linkCollisionShapeIndices | list of int | List of the unique id, one for each link. |
| optional | linkVisualShapeIndices | list of int | list of the visual shape unique id for each link |
| optional | linkPositions | list of vec3 | list of local link positions, with respect to parent |
| optional | linkOrientations | list of vec4 | list of local link orientations, w.r.t. parent |
| optional | linkInertialFramePositions | list of vec3 | list of local inertial frame pos. in link frame |
| optional | linkInertialFrameOrientations | list of vec4 | list of local inertial frame orn. in link frame |
| optional | linkParentIndices | list of int | Link index of the parent link or 0 for the base. |
| optional | linkJointTypes | list of int | list of joint types, one for each link. Only JOINT_REVOLUTE, JOINT_PRISMATIC, and JOINT_FIXED is supported at the moment. |
| optional | linkJointAxis | list of vec3 | Joint axis in local frame |
| optional | useMaximalCoordinates | int | experimental, best to leave it 0/false. |
| optional | physicsClientId | int | If you are connected to multiple servers, you can pick one. |
The return value of createMultiBody is a non-negative unique id or -1 for failure. Example:
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~ python
cuid = pybullet.createCollisionShape(pybullet.GEOM_BOX, halfExtents = [1, 1, 1])
mass= 0 #static box
pybullet.createMultiBody(mass,cuid)
~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~~
See also createMultiBodyLinks.py, createObstacleCourse.py and createVisualShape.py in the Bullet/examples/pybullet/examples folder.
saveWorld
--------------------------------------------------------------------------------------------
You can create a snapshot of the current world as a pybullet Python file, stored on the server. saveWorld can be useful as a basic editing feature, setting up the robot, joint angles, object positions and environment for example in VR. Later you can just load the pybullet Python file to re-create the world. Note that not all settings are stored in the world file at the moment.
The input arguments are:
| option | name | type | description |
|----------|----------------|--------|------------------------------------------------------------|
| required | fileName | string | filename of the pybullet file. |
| optional | clientServerId | int | if you are connected to multiple servers, you can pick one |
stepSimulation
--------------------------------------------------------------------------------------------
stepSimulation will perform all the actions in a single forward dynamics simulation step such as collision detection, constraint solving and integration.
stepSimulation input arguments are optional:
| option | name | type | description |
|----------|-----------------|------|-------------------------------------------------------------|
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
stepSimulation has no return values.
See also setRealTimeSimulation to automatically let the physics server run forward dynamics simulation based on its real-time clock.
setRealTimeSimulation
--------------------------------------------------------------------------------------------
By default, the physics server will not step the simulation, unless you explicitly send a 'stepSimulation' command. This way you can maintain control determinism of the simulation. It is possible to run the simulation in real-time by letting the physics server automatically step the simulation according to its real-time-clock (RTC) using the setRealTimeSimulation command. If you enable the real-time simulation, you don't need to call 'stepSimulation'.
Note that setRealTimeSimulation has no effect in DIRECT mode: in DIRECT mode the physics server and client happen in the same thread and you trigger every command. In GUI mode and in Virtual Reality mode, and TCP/UDP mode, the physics server runs in a separate thread from the client (pybullet), and setRealTimeSimulation allows the physicsserver thread to add additional calls to stepSimulation.
The input parameters are:
| option | name | type | description |
|----------|--------------------------|------|-------------------------------------------------------------|
| required | enableRealTimeSimulation | int | 0 to disable real-time simulation, 1 to enable |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
getBasePositionAndOrientation
--------------------------------------------------------------------------------------------
getBasePositionAndOrientation reports the current position and orientation of the base (or root link) of the body in Cartesian world coordinates. The orientation is a quaternion in [x,y,z,w] format.
The getBasePositionAndOrientation input parameters are:
| option | name | type | description |
|----------|--------------------------|------|-------------------------------------------------------------|
| required | objectUniqueId | int | object unique id, as returned from loadURDF. |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
getBasePositionAndOrientation returns the position list of 3 floats and orientation as list of 4 floats in [x,y,z,w] order. Use getEulerFromQuaternion to convert the quaternion to Euler if needed.
See also resetBasePositionAndOrientation to reset the position and orientation of the object.
This completes the first pybullet script. Bullet ships with several URDF files in the Bullet/data folder.
resetBasePositionAndOrientation
--------------------------------------------------------------------------------------------
You can reset the position and orientation of the base (root) of each object. It is best only to do this at the start, and not during a running simulation, since the command will override the effect of all physics simulation. The linear and angular velocity is set to zero. You can use resetBaseVelocity to reset to a non-zero linear and/or angular velocity.
The input arguments to resetBasePositionAndOrientation are:
| required | objectUniqueId | int | object unique id, as returned from loadURDF. |
|----------|-----------------|------|-----------------------------------------------------------------------------------------------|
| required | posObj | vec3 | reset the base of the object at the specified position in world space coordinates [X,Y,Z] |
| required | ornObj | vec4 | reset the base of the object at the specified orientation as world space quaternion [X,Y,Z,W] |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
There are no return arguments.
Transforms: Position and Orientation
--------------------------------------------------------------------------------------------
The position of objects can be expressed in Cartesian world space coordinates [x,y,z]. The orientation (or rotation) of objects can be expressed using quaternions [x,y,z,w], euler angles [yaw, pitch, roll] or 3x3 matrices. pybullet provides a few helper functions to convert between quaternions, euler angles and 3x3 matrices. In additions there are some functions to multiply and invert transforms.
getQuaternionFromEuler and getEulerFromQuaternion
--------------------------------------------------------------------------------------------
The pybullet API uses quaternions to represent orientations. Since quaternions are not very intuitive for people, there are two APIs to convert between quaternions and Euler angles.
The getQuaternionFromEuler input arguments are:
| option | name | type | description |
|----------|-----------------|------------------------|---------------------------------------------------------------------------------------------------------------------------------------------|
| required | eulerAngle | vec3: list of 3 floats | The X,Y,Z Euler angles are in radians, accumulating 3 rotations expressing the roll around the X, pitch around Y and yaw around the Z axis. |
| optional | physicsClientId | int | unused, added for API consistency. |
getQuaternionFromEuler returns a quaternion, vec4 list of 4 floating point values [X,Y,Z,W].
getEulerFromQuaternion
--------------------------------------------------------------------------------------------
The getEulerFromQuaternion input arguments are:
| option | name | type | description |
|----------|-----------------|------------------------|------------------------------------|
| required | quaternion | vec4: list of 4 floats | The quaternion format is [x,y,z,w] |
| optional | physicsClientId | int | unused, added for API consistency. |
getEulerFromQuaternion returns alist of 3 floating point values, a vec3.
getMatrixFromQuaternion
--------------------------------------------------------------------------------------------
getMatrixFromQuaternion is a utility API to create a 3x3 matrix from a quaternion. The input is a quaternion and output a list of 9 floats, representing the matrix.
multiplyTransforms, invertTransform
--------------------------------------------------------------------------------------------
pybullet provides a few helper functions to multiply and inverse transforms. This can be helpful to transform coordinates from one to the other coordinate system.
The input parameters of multiplyTransforms are:
| option | name | type | description |
|----------|-----------------|------------------------|------------------------------------|
| required | positionA | vec3, list of 3 floats | position A |
| required | orientationA | vec4, list of 4 floats | quaternion [x,y,z,w] |
| required | positionB | vec3, list of 3 floats | position B |
| required | orientationB | vec4, list of 4 floats | quaternion [x,y,z,w] |
| optional | physicsClientId | int | unused, added for API consistency. |
The return value is a list of position (vec3) and orientation (vec4, quaternion x,y,x,w).
The input and output parameters of invertTransform are:
| option | name | type | description |
|----------|-------------|------------------------|----------------------|
| required | position | vec3, list of 3 floats | |
| required | orientation | vec4, list of 4 floats | quaternion [x,y,z,w] |
The output of invertTransform is a position (vec3) and orientation (vec4, quaternion x,y,x,w).
getAPIVersion
You can query for the API version in a year-month-0-day format. You can only connect between physics client/server of the same API version, with the same number of bits (32-bit / 64bit). There is a optional unused argument physicsClientId, added for API consistency.
| option | name | type | description |
|----------|-----------------|------|------------------------------------|
| optional | physicsClientId | int | unused, added for API consistency. |
Controlling a robot
======================================================================================
In the Introduction we already showed how to initialize pybullet and load some objects. If you replace the file name in the loadURDF command with "r2d2.urdf" you can simulate a R2D2 robot from the ROS tutorial. Let's control this R2D2 robot to move, look around and control the gripper. For this we need to know how to access its joint motors.
Base, Joints, Links
--------------------------------------------------------------------------------------------
![<small>Base, Joints and Links</small>](images/joints_and_links.png width="80%" border="0")
A simulated robot as described in a URDF file has a base, and optionally links connected by joints. Each joint connects one parent link to a child link. At the root of the hierarchy there is a single root parent that we call base. The base can be either fully fixed, 0 degrees of freedom, or fully free, with 6 degrees of freedom. Since each link is connected to a parent with a single joint, the number of joints is equal to the number of links. Regular links have link indices in the range [0..getNumJoints()] Since the base is not a regular 'link', we use the convention of -1 as its link index. We use the convention that joint frames are expressed relative to the parents center of mass inertial frame, which is aligned with the principle axis of inertia.
getNumJoints, getJointInfo
--------------------------------------------------------------------------------------------
After you load a robot you can query the number of joints using the getNumJoints API. For the r2d2.urdf this should return 15.
getNumJoints input parameters:
| option | name | type | description |
|----------|-----------------|------|-------------------------------------------------------------|
| required | bodyUniqueId | int | the body unique id, as returned by loadURDF etc. |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
getNumJoints returns an integer value representing the number of joints.
getJointInfo
--------------------------------------------------------------------------------------------
For each joint we can query some information, such as its name and type.
getJointInfo input parameters:
| option | name | type | description |
|----------|-----------------|------|-------------------------------------------------------------|
| required | bodyUniqueId | int | the body unique id, as returned by loadURDF etc. |
| required | jointIndex | int | an index in the range [0 .. getNumJoints(bodyUniqueId)) |
| optional | physicsClientId | int | if you are connected to multiple servers, you can pick one. |
getJointInfo returns a list of information:
| name | type | description |
|------------------|--------|-------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------------|
| jointIndex | int | the same joint index as the input parameter |
| jointName | string | the name of the joint, as specified in the URDF (or SDF etc) file |
| jointType | int | "type of the joint, this also implies the number of position and velocity variables. JOINT_REVOLUTE, JOINT_PRISMATIC, JOINT_SPHERICAL, JOINT_PLANAR, JOINT_FIXED. See the section on Base, Joint and Links for more details." |
| qIndex | int | the first position index in the positional state variables for this body |
| uIndex | int | the first velocity index in the velocity state variables for this body |
| flags | int | reserved |
| jointDamping | float | the joint damping value, as specified in the URDF file |
| jointFriction | float | the joint friction value, as specified in the URDF file |
| jointLowerLimit | float | Positional lower limit for slider and revolute (hinge) joints. |
| jointUpperLimit | float | Positional upper limit for slider and revolute joints. Values ignored in case upper limit smaller than lower limit.. |
| jointMaxForce | float | Maximum force specified in URDF (possibly other file formats) Note that this value is not automatically used. You can use maxForce in 'setJointMotorControl2'. |
| jointMaxVelocity | float | Maximum velocity specified in URDF. Note that the maximum velocity is not used in actual motor control commands at the moment. |
| linkName | string | the name of the link, as specified in the URDF (or SDF etc.) file |
setJointMotorControl2/Array
--------------------------------------------------------------------------------------------
Note: setJointMotorControl is obsolete and replaced by setJointMotorControl2 API. (Or even better use setJointMotorControlArray).
We can control a robot by setting a desired control mode for one or more joint motors. During the stepSimulation the physics engine will simulate the motors to reach the given target value that can be reached within the maximum motor forces and other constraints. Each revolute joint and prismatic joint is motorized by default. There are 3 different motor control modes: position control, velocity control and torque control.
You can effectively disable the motor by using a force of 0. You need to disable motor in order to use direct torque control. For example:
<!--Hello MathJax:
\[f(0)=\frac{1}{2\cdot\pi\cdot i}\cdot \oint_{|z|=1} \frac{f(z)}{z} \textrm{d}z\]
-->
<script window.markdeepOptions={};
window.markdeepOptions.tocStyle="long"; src="cs371-common.js"></script>

10
docs/pybullet_quickstart_guide/WordpressPreview/Article.md.html Normal file
View File

@@ -0,0 +1,10 @@
<meta charset="utf-8" lang="en">
Hello Markdeep!
- Hello
- lists!
Hello MathJax:
\[f(0)=\frac{1}{2\cdot\pi\cdot i}\cdot \oint_{|z|=1} \frac{f(z)}{z} \textrm{d}z\]
<script src="MarkdeepUtility.js"></script>

43
docs/pybullet_quickstart_guide/WordpressPreview/BuildMarkdeepUtility.py Normal file
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@@ -0,0 +1,43 @@
import re
if(__name__=="__main__"):
# Assemble the script which embeds the Markdeep page into the preview blog
PreviewBlogPage=open("PreviewBlogPage.htm","rb").read().decode("utf-8");
HeadMatch=re.search("<head(.*?)>(.*?)</head>",PreviewBlogPage,re.DOTALL);
HeadAttributes=HeadMatch.group(1);
FullDocumentHead=HeadMatch.group(2);
BodyMatch=re.search("<body(.*?)>(.*?)</body>",PreviewBlogPage,re.DOTALL);
BodyAttributes=BodyMatch.group(1);
FullPreviewBody=BodyMatch.group(2);
ArticleHTMLCodeMacro="$(ARTICLE_HTML_CODE)";
iArticleHTMLCodeMacro=FullPreviewBody.find(ArticleHTMLCodeMacro);
DocumentBodyPrefix=FullPreviewBody[0:iArticleHTMLCodeMacro];
DocumentBodySuffix=FullPreviewBody[iArticleHTMLCodeMacro+len(ArticleHTMLCodeMacro):];
FullPrepareHTMLCode=open("PrepareHTML.js","rb").read().decode("utf-8");
ReplacementList=[
("$(FULL_DOCUMENT_HEAD)",FullDocumentHead),
("$(DOCUMENT_BODY_PREFIX)",DocumentBodyPrefix),
("$(DOCUMENT_BODY_SUFFIX)",DocumentBodySuffix)
];
for Macro,Replacement in ReplacementList:
FullPrepareHTMLCode=FullPrepareHTMLCode.replace(Macro,Replacement.replace("\r\n","\\r\\n\\\r\n").replace("'","\\'"));
# Generate code which sets body and head attributes appropriately
for Element,AttributeCode in [("head",HeadAttributes),("body",BodyAttributes)]:
FullPrepareHTMLCode+="\r\n// Setting "+Element+" attributes\r\n";
for Match in re.finditer("(\\w+)=\\\"(.*?)\\\"",AttributeCode):
FullPrepareHTMLCode+="document."+Element+".setAttribute(\""+Match.group(1)+"\",\""+Match.group(2)+"\");\r\n";
open("PrepareHTML.full.js","wb").write(FullPrepareHTMLCode.encode("utf-8"));
# Concatenate all the scripts together
SourceFileList=[
"PrepareHTML.full.js",
"SetMarkdeepMode.js",
"markdeep.min.js",
"DisplayMarkdeepOutput.js",
"InvokeMathJax.js"
];
OutputCode="\r\n\r\n".join(["// "+SourceFile+"\r\n\r\n"+open(SourceFile,"rb").read().decode("utf-8") for SourceFile in SourceFileList]);
OutputFile=open("MarkdeepUtility.js","wb");
OutputFile.write(OutputCode.encode("utf-8"));
OutputFile.close();
print("Done.");

6
docs/pybullet_quickstart_guide/WordpressPreview/DisplayMarkdeepOutput.js Normal file
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@@ -0,0 +1,6 @@
BodyHTML=document.body.innerHTML;
BeginTag="<!-- MARKDEEP_BEGIN -->";
EndTag="<!-- MARKDEEP_END -->";
BodyHTML=BodyHTML.slice(BodyHTML.indexOf(BeginTag)+BeginTag.length,BodyHTML.lastIndexOf(EndTag));
document.getElementById("BodyDisplayBox").textContent=BodyHTML;
document.head.innerHTML=FullDocumentHead;

4
docs/pybullet_quickstart_guide/WordpressPreview/InvokeMathJax.js Normal file
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@@ -0,0 +1,4 @@
var MathjaxScript=document.createElement("script");
MathjaxScript.type="text/javascript";
MathjaxScript.src="https://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML";
document.head.appendChild(MathjaxScript);

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docs/pybullet_quickstart_guide/WordpressPreview/PrepareHTML.js Normal file
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@@ -0,0 +1,102 @@
/** Converts <>&" to their HTML escape sequences */
function escapeHTMLEntities(str) {
return String(str).replace(/&/g, '&amp;').replace(/</g, '&lt;').replace(/>/g, '&gt;').replace(/"/g, '&quot;');
}
/** Restores the original source string's '<' and '>' as entered in
the document, before the browser processed it as HTML. There is no
way in an HTML document to distinguish an entity that was entered
as an entity.*/
function unescapeHTMLEntities(str) {
// Process &amp; last so that we don't recursively unescape
// escaped escape sequences.
return str.
replace(/&lt;/g, '<').
replace(/&gt;/g, '>').
replace(/&quot;/g, '"').
replace(/&#39;/g, "'").
replace(/&ndash;/g, '--').
replace(/&mdash;/g, '---').
replace(/&amp;/g, '&');
}
/**
\param node A node from an HTML DOM
\return A String that is a very good reconstruction of what the
original source looked like before the browser tried to correct
it to legal HTML.
*/
function nodeToMarkdeepSource(node, leaveEscapes) {
var source = node.innerHTML;
// Markdown uses <john@bar.com> e-mail syntax, which HTML parsing
// will try to close by inserting the matching close tags at the end of the
// document. Remove anything that looks like that and comes *after*
// the first fallback style.
source = source.replace(/(?:<style class="fallback">[\s\S]*?<\/style>[\s\S]*)<\/\S+@\S+\.\S+?>/gim, '');
// Remove artificially inserted close tags
source = source.replace(/<\/h?ttps?:.*>/gi, '');
// Now try to fix the URLs themselves, which will be
// transformed like this: <http: casual-effects.com="" markdeep="">
source = source.replace(/<(https?): (.*?)>/gi, function (match, protocol, list) {
// Remove any quotes--they wouldn't have been legal in the URL anyway
var s = '<' + protocol + '://' + list.replace(/=""\s/g, '/');
if (s.substring(s.length - 3) === '=""') {
s = s.substring(0, s.length - 3);
}
// Remove any lingering quotes (since they
// wouldn't have been legal in the URL)
s = s.replace(/"/g, '');
return s + '>';
});
// Remove the "fallback" style tags
source = source.replace(/<style class=["']fallback["']>.*?<\/style>/gmi, '');
source = unescapeHTMLEntities(source);
return source;
}
// $ (FULL_DOCUMENT_HEAD) is replaced by the contents of the <head> found in
// PreviewBlogPage.htm. This document head will overwrite whatever Markdeep does to
// the head at the very end.
FullDocumentHead='\
$(FULL_DOCUMENT_HEAD)\
';
// This code is placed at the beginning of the body before the Markdeep code.
// $ (DOCUMENT_BODY_PREFIX) is everything in the body of PreviewBlogPage.htm up to
// $ (ARTICLE_HTML_CODE).
DocumentBodyPrefix='\
$(DOCUMENT_BODY_PREFIX)\
<!-- MARKDEEP_BEGIN -->\
<pre class="markdeep">\
';
// This code is placed at the end of the body after the Markdeep code.
// $ (DOCUMENT_BODY_SUFFIX) is everything in the body of PreviewBlogPage.htm after
// $ (ARTICLE_HTML_CODE).
DocumentBodySuffix='\
</pre>\
<!-- MARKDEEP_END -->\
<div>Document &lt;body&gt; code:<br/>\
<textarea cols="40" rows="10" id="BodyDisplayBox"></textarea></div>\
$(DOCUMENT_BODY_SUFFIX)\
';
// Get the full Markdeep code from the .md.html file without the script invocation
MarkdeepCode=nodeToMarkdeepSource(document.body);
MarkdeepCode=MarkdeepCode.slice(0,MarkdeepCode.lastIndexOf("<script"));
// Bring it into a form where it can be pasted into an HTML document
SanitizedMarkdeepCode=escapeHTMLEntities(MarkdeepCode);
// Surround it by the prefix and suffix code and set that as body code
document.body.innerHTML=DocumentBodyPrefix+SanitizedMarkdeepCode+DocumentBodySuffix;

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1
docs/pybullet_quickstart_guide/WordpressPreview/SetMarkdeepMode.js Normal file
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@@ -0,0 +1 @@
window.markdeepOptions={mode:"html"};

29
docs/pybullet_quickstart_guide/WordpressPreview/ShowHeadAdditions.html Normal file
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@@ -0,0 +1,29 @@
<!DOCTYPE html>
<html lang="en-US">
<head>
<meta http-equiv="content-type" content="text/html; charset=UTF-8">
<meta charset="UTF-8">
<body>
<script>window.markdeepOptions={mode:"script"};</script>
<script src="./markdeep.min.js"></script>
<div>Document &lt;head&gt; additions:<br/>
<textarea cols="80" rows="40" id="HeadDisplayBox"></textarea></div>
<script>
// Get the complete Markdeep and hljs stylesheet
FullStylesheet=window.markdeep.stylesheet();
// It should consist of three <style> tags which we pick apart
StyleTagList=FullStylesheet.split("<style>");
// The second one defines section number, which we do not want, so we
// just drop it. The other two are Markdeep and hljs styles.
MarkdeepStylesheet="<style>"+StyleTagList[1];
HLJSStylesheet="<style>"+StyleTagList[3];
// Now lets show the user what we found
document.getElementById("HeadDisplayBox").textContent=
"<!-- Markdeep styles -->\r\n"
+MarkdeepStylesheet
+"\r\n\r\n<!-- hljs styles -->\r\n"
+HLJSStylesheet
+"\r\n\r\n<!-- MathJax invocation -->\r\n<script type=\"text/javascript\" async=\"\" src=\"https://cdn.mathjax.org/mathjax/latest/MathJax.js?config=TeX-AMS-MML_HTMLorMML\">\r\n";
</script>
</body>
</html>

6
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24
docs/pybullet_quickstart_guide/cs371-common.js Normal file
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@@ -0,0 +1,24 @@
// Common code for styling all CS371 web pages
if (location.href.indexOf('?') == -1) {
// Force a reload by making a bogus query.
var i = ((location.href.indexOf('#') + 1) || (location.href.length + 1)) - 1;
location = location.href.substring(0, i) + '?' + location.href.substring(i);
}
markdeepOptions = {tocStyle: 'long'};
document.write("<link href='https://fonts.googleapis.com/css?family=Roboto:400,300,100,100italic,300italic,400italic,700' rel='stylesheet' type='text/css'>" +
"<link rel='stylesheet' type='text/css' href='cs371.css'>");
// Conceal list items that use a '+', except when viewed locally
if (/^file:\/{3}/i.test(window.location.href)) {
document.write('<style>li.plus { color: #D88; }</style>');
} else {
document.write('<style>li.plus { display: none; }</style>');
}
document.write('<!-- Markdeep: --><style class="fallback">body{visibility:hidden;white-space:pre;font-family:monospace}</style><script src="markdeep.js"></script><script>window.alreadyProcessedMarkdeep||(document.body.style.visibility="visible")</script>');

21
docs/pybullet_quickstart_guide/cs371.css Normal file
View File

@@ -0,0 +1,21 @@
.md table {
font-size: 6px;
}
body {
font-family: "Roboto", sans-serif;
background: #FFFDF9;
}
body, table {
font-weight: 300;
color: #555;
}
em.asterisk {
font-style: normal;
font-weight: 500;
/* color: #333; */
}

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14
examples/CMakeLists.txt
View File

@@ -1,18 +1,8 @@
SUBDIRS( HelloWorld BasicDemo )
IF(BUILD_BULLET3)
SET(DL dl)
IF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SET(OSDEF -D_LINUX)
ELSE(CMAKE_SYSTEM_NAME MATCHES "Linux")
IF(APPLE)
SET(OSDEF -D_DARWIN)
ELSE(APPLE)
SET(OSDEF -D_BSD)
SET(DL "")
ENDIF(APPLE)
ENDIF(CMAKE_SYSTEM_NAME MATCHES "Linux")
SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow )
SUBDIRS( ExampleBrowser RobotSimulator SharedMemory ThirdPartyLibs/Gwen ThirdPartyLibs/BussIK ThirdPartyLibs/clsocket OpenGLWindow TwoJoint )
ENDIF()
IF(BUILD_PYBULLET)
SUBDIRS(pybullet)
ENDIF(BUILD_PYBULLET)

2
examples/CommonInterfaces/Common2dCanvasInterface.h
View File

@@ -4,7 +4,7 @@
struct Common2dCanvasInterface
{
virtual ~Common2dCanvasInterface() {}
virtual int createCanvas(const char* canvasName, int width, int height)=0;
virtual int createCanvas(const char* canvasName, int width, int height, int xPos, int yPos)=0;
virtual void destroyCanvas(int canvasId)=0;
virtual void setPixel(int canvasId, int x, int y, unsigned char red, unsigned char green,unsigned char blue, unsigned char alpha)=0;
virtual void getPixel(int canvasId, int x, int y, unsigned char& red, unsigned char& green,unsigned char& blue, unsigned char& alpha)=0;

2
examples/CommonInterfaces/CommonExampleInterface.h
View File

@@ -55,7 +55,7 @@ public:
virtual bool mouseButtonCallback(int button, int state, float x, float y)=0;
virtual bool keyboardCallback(int key, int state)=0;
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis) {}
virtual void vrControllerMoveCallback(int controllerId, float pos[4], float orientation[4], float analogAxis, float auxAnalogAxes[10]) {}
virtual void vrControllerButtonCallback(int controllerId, int button, int state, float pos[4], float orientation[4]){}
virtual void vrHMDMoveCallback(int controllerId, float pos[4], float orientation[4]){}
virtual void vrGenericTrackerMoveCallback(int controllerId, float pos[4], float orientation[4]){}

2
examples/CommonInterfaces/CommonGUIHelperInterface.h
View File

@@ -99,7 +99,7 @@ struct GUIHelperInterface
virtual void drawText3D( const char* txt, float posX, float posY, float posZ, float size){}
virtual void drawText3D( const char* txt, float position[3], float orientation[4], float color[4], float size, int optionFlag){}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags){return -1;}
virtual int addUserDebugText3D( const char* txt, const double positionXYZ[3], const double orientation[4], const double textColorRGB[3], double size, double lifeTime, int trackingVisualShapeIndex, int optionFlags, int replaceItemUid){return -1;}
virtual int addUserDebugLine(const double debugLineFromXYZ[3], const double debugLineToXYZ[3], const double debugLineColorRGB[3], double lineWidth, double lifeTime , int trackingVisualShapeIndex){return -1;};
virtual int addUserDebugParameter(const char* txt, double rangeMin, double rangeMax, double startValue){return -1;};
virtual int readUserDebugParameter(int itemUniqueId, double* value) { return 0;}

13
examples/CommonInterfaces/CommonMultiBodyBase.h
View File

@@ -233,6 +233,19 @@ struct CommonMultiBodyBase : public CommonExampleInterface
virtual bool keyboardCallback(int key, int state)
{
if ((key==B3G_F3) && state && m_dynamicsWorld)
{
btDefaultSerializer* serializer = new btDefaultSerializer();
m_dynamicsWorld->serialize(serializer);
FILE* file = fopen("testFile.bullet","wb");
fwrite(serializer->getBufferPointer(),serializer->getCurrentBufferSize(),1, file);
fclose(file);
//b3Printf("btDefaultSerializer wrote testFile.bullet");
delete serializer;
return true;
}
return false;//don't handle this key
}

4
examples/ExampleBrowser/CMakeLists.txt
View File

@@ -122,6 +122,8 @@ SET(ExtendedTutorialsSources
../ExtendedTutorials/SimpleBox.h
../ExtendedTutorials/MultipleBoxes.cpp
../ExtendedTutorials/MultipleBoxes.h
../ExtendedTutorials/CompoundBoxes.cpp
../ExtendedTutorials/CompoundBoxes.h
../ExtendedTutorials/SimpleCloth.cpp
../ExtendedTutorials/SimpleCloth.h
../ExtendedTutorials/SimpleJoint.cpp
@@ -171,6 +173,7 @@ SET(BulletExampleBrowser_SRCS
../SharedMemory/PhysicsServerCommandProcessor.h
../SharedMemory/SharedMemoryCommands.h
../SharedMemory/SharedMemoryPublic.h
../SharedMemory/b3PluginManager.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.cpp
../RobotSimulator/b3RobotSimulatorClientAPI.h
../BasicDemo/BasicExample.cpp
@@ -256,6 +259,7 @@ SET(BulletExampleBrowser_SRCS
../Importers/ImportMeshUtility/b3ImportMeshUtility.cpp
../Importers/ImportMeshUtility/b3ImportMeshUtility.h
../../Extras/Serialize/BulletWorldImporter/btWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btMultiBodyWorldImporter.cpp
../../Extras/Serialize/BulletWorldImporter/btBulletWorldImporter.cpp
../../Extras/Serialize/BulletFileLoader/bChunk.cpp
../../Extras/Serialize/BulletFileLoader/bFile.cpp

11
examples/ExampleBrowser/ExampleEntries.cpp
View File

@@ -40,6 +40,7 @@
#include "../DynamicControlDemo/MotorDemo.h"
#include "../RollingFrictionDemo/RollingFrictionDemo.h"
#include "../SharedMemory/PhysicsServerExampleBullet2.h"
#include "../SharedMemory/PhysicsServerExample.h"
#include "../SharedMemory/PhysicsClientExample.h"
#include "../Constraints/TestHingeTorque.h"
#include "../RenderingExamples/TimeSeriesExample.h"
@@ -70,6 +71,7 @@
//Extended Tutorial Includes Added by Mobeen and Benelot
#include "../ExtendedTutorials/SimpleBox.h"
#include "../ExtendedTutorials/MultipleBoxes.h"
#include "../ExtendedTutorials/CompoundBoxes.h"
#include "../ExtendedTutorials/SimpleJoint.h"
#include "../ExtendedTutorials/SimpleCloth.h"
#include "../ExtendedTutorials/Chain.h"
@@ -141,10 +143,10 @@ static ExampleEntry gDefaultExamples[]=
PhysicsServerCreateFuncBullet2),
ExampleEntry(1, "Physics Client (Shared Mem)", "Create a physics client that can communicate with a physics server over shared memory.", PhysicsClientCreateFunc),
// ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
// PhysicsServerCreateFunc,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
// ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
// PhysicsServerCreateFunc,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
ExampleEntry(1,"Physics Server (Logging)", "Create a physics server that communicates with a physics client over shared memory. It will log all commands to a file.",
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_ENABLE_COMMAND_LOGGING),
ExampleEntry(1,"Physics Server (Replay Log)", "Create a physics server that replay a command log from disk.",
PhysicsServerCreateFuncBullet2,PHYSICS_SERVER_REPLAY_FROM_COMMAND_LOG),
//
// ExampleEntry(1, "Physics Client (Direct)", "Create a physics client that can communicate with a physics server directly in-process.", PhysicsClientCreateFunc,eCLIENTEXAMPLE_DIRECT),
@@ -321,6 +323,7 @@ static ExampleEntry gDefaultExamples[]=
ExampleEntry(0,"Extended Tutorials"),
ExampleEntry(1,"Simple Box", "Simplest possible demo creating a single box rigid body that falls under gravity", ET_SimpleBoxCreateFunc),
ExampleEntry(1,"Multiple Boxes", "Add multiple box rigid bodies that fall under gravity", ET_MultipleBoxesCreateFunc),
ExampleEntry(1,"Compound Boxes", "Add multiple boxes to a single CompoundShape to form a simple rigid L-beam, that falls under gravity", ET_CompoundBoxesCreateFunc),
ExampleEntry(1,"Simple Joint", "Create a single distance constraint between two box rigid bodies", ET_SimpleJointCreateFunc),
ExampleEntry(1,"Simple Cloth", "Create a simple piece of cloth", ET_SimpleClothCreateFunc),
ExampleEntry(1,"Simple Chain", "Create a simple chain using a pair of point2point/distance constraints. You may click and drag any box to see the chain respond.", ET_ChainCreateFunc),

2
examples/ExampleBrowser/InProcessExampleBrowser.cpp
View File

@@ -391,7 +391,7 @@ void btShutDownExampleBrowser(btInProcessExampleBrowserInternalData* data)
} else
{
// printf("polling..");
b3Clock::usleep(1000);
b3Clock::usleep(0);
}
};

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