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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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3751
data/lego/lego.obj Normal file
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32
data/lego/lego.urdf Normal file
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@@ -0,0 +1,32 @@
<?xml version="0.0" ?>
<robot name="cube.urdf">
<link name="legobrick">
<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 0.0 0.0"/>
<mass value=".1"/>
<inertia ixx="1" ixy="0" ixz="0" iyy="1" iyz="0" izz="1"/>
</inertial>
<visual>
<origin rpy="1.570796 0 0" xyz="-0.016 -0.016 -0.0115"/>
<geometry>
<mesh filename="lego.obj" scale=".1 .1 .1"/>
</geometry>
<material name="yellow">
<color rgba="1 1 0.4 1"/>
</material>
</visual>
<collision>
<origin rpy="1.570796 0 0" xyz="0 0 0"/>
<geometry>
<box size="0.032 0.023 0.032"/>
</geometry>
</collision>
</link>
</robot>

3072
data/lego/lego_vhacd.obj Normal file
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