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fix pybullet.c compilation for Windows

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add lego.urdf, duck.urdf (optimized using VHACD convex decomposition)
optimize Kiva shelf collision model (by hand, using boxes/Blender)
physics timescale toggle between  1 -> 0,25 -> 0
This commit is contained in:
erwincoumans
2016-09-24 11:25:05 -07:00
parent 0dfe20c036
commit f5e65197f4
13 changed files with 16333 additions and 38 deletions
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182
data/kiva_shelf/model.sdf
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@@ -31,25 +31,175 @@
<collision concave="yes" name="pod_collision">
<pose>0 0 0 1.5707 0 0</pose>
<pose>0 0 1.21515 1.5707 0 0</pose>
<geometry>
<mesh>
<uri>meshes/pod_lowres.stl</uri>
</mesh>
<box>
<size>0.875 1.754 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.42 0 1.18 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.754 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.42 0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.42 0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.42 -0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.42 -0.42 1.17 1.5707 0 0</pose>
<geometry>
<box>
<size>0.03 2.3 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.15 0 1.49 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.32 0.01</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>-0.15 0 1.49 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.32 0.01</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 .57 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 0.45 0.01</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0.42 0 1.18 1.5707 0 1.5707 </pose>
<geometry>
<box>
<size>0.875 1.754 0.03</size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.06 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.06 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 0.80 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0.43 0.81 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 -0.43 0.81 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0.43 1.08 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 -0.43 1.08 0 0 0 </pose>
<geometry>
<box>
<size>0.856 0.018 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 0.37 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.29 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.53 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
</collision>
<collision concave="yes" name="pod_collision">
<pose>0 0 1.78 0 0 0 </pose>
<geometry>
<box>
<size>0.905 0.856 0.028 </size>
</box>
</geometry>
<surface>
<friction>
<ode>
<mu>0.8</mu>
<mu2>0.8</mu2>
<fdir1>0.0 0.0 0.0</fdir1>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
</link>
</model>
</sdf>