add pingpong world

2026-09-11 12:31:07 +08:00 · 2019-07-07 04:02:42 +02:00
parent 2eb5028148
commit 4f9940c154
15 changed files with 31913 additions and 4 deletions
@@ -0,0 +1,13 @@
+# 
+# Wavefront material file
+# Created with Kaydara FBX
+# 
+
+newmtl Mat
+map_Kd net.png
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.200000 0.200000 0.200000
+illum 2
+Ns 50.000000
+Tr 1.000000
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.800000 0.800000 0.800000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd net.png
+
@@ -0,0 +1,13 @@
+# 
+# Wavefront material file
+# Created with Kaydara FBX
+# 
+
+newmtl 01___Default
+map_Kd paddle.jpg
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.200000 0.200000 0.200000
+illum 2
+Ns 50.000000
+Tr 1.000000
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.800000 0.800000 0.800000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd paddle.jpg
+
@@ -0,0 +1,13 @@
+# 
+# Wavefront material file
+# Created with Kaydara FBX
+# 
+
+newmtl Mat_1
+map_Kd table.png
+Ka 0.000000 0.000000 0.000000
+Kd 0.800000 0.800000 0.800000
+Ks 0.200000 0.200000 0.200000
+illum 2
+Ns 50.000000
+Tr 1.000000
@@ -0,0 +1,72 @@
+####
+#
+# OBJ File Generated by Meshlab
+#
+####
+# Object table.obj
+#
+# Vertices: 8
+# Faces: 12
+#
+####
+mtllib ./table.obj.mtl
+
+vn -1.570796 -1.570796 -1.570796
+v -1.369846 -0.757018 -0.044536 0.752941 0.752941 0.752941
+vn -1.570796 -1.570795 1.570796
+v -1.369846 -0.757018 0.044536 0.752941 0.752941 0.752941
+vn 1.570796 -1.570795 -1.570796
+v 1.369846 -0.757018 -0.044536 0.752941 0.752941 0.752941
+vn 1.570796 -1.570796 1.570796
+v 1.369846 -0.757018 0.044536 0.752941 0.752941 0.752941
+vn 1.570796 1.570796 -1.570796
+v 1.369846 0.757018 -0.044536 0.752941 0.752941 0.752941
+vn 1.570796 1.570795 1.570796
+v 1.369846 0.757018 0.044536 0.752941 0.752941 0.752941
+vn -1.570796 1.570795 -1.570796
+v -1.369846 0.757018 -0.044536 0.752941 0.752941 0.752941
+vn -1.570796 1.570796 1.570796
+v -1.369846 0.757018 0.044536 0.752941 0.752941 0.752941
+# 8 vertices, 0 vertices normals
+
+
+usemtl material_0
+vt 0.009557 0.116139
+vt 0.879735 0.091371
+vt 0.879735 0.116139
+f 2/1/2 3/2/3 4/3/4
+vt 0.009557 0.091371
+f 3/2/3 2/1/2 1/4/1
+vt 0.009557 0.008367
+vt 0.490443 0.008367
+vt 0.009557 0.033135
+f 3/5/3 5/6/5 4/7/4
+vt 0.490443 0.033135
+f 4/7/4 5/6/5 6/8/6
+vt 0.879735 0.074637
+vt 0.009557 0.074637
+vt 0.879735 0.049869
+f 8/9/8 6/10/6 7/11/7
+vt 0.009557 0.049869
+f 5/12/5 7/11/7 6/10/6
+vt 0.509557 0.033135
+vt 0.990443 0.008367
+vt 0.990443 0.033135
+f 8/13/8 1/14/1 2/15/2
+vt 0.509557 0.008367
+f 1/14/1 8/13/8 7/16/7
+vt 0.879735 0.991633
+vt 0.009557 0.991633
+vt 0.879735 0.570620
+f 6/17/6 8/18/8 4/19/4
+vt 0.009557 0.570620
+f 2/20/2 4/19/4 8/18/8
+vt 0.009557 0.553886
+vt 0.879735 0.132874
+vt 0.879735 0.553886
+f 1/21/1 5/22/5 3/23/3
+vt 0.009557 0.132874
+f 5/22/5 1/21/1 7/24/7
+# 12 faces, 24 coords texture
+
+# End of File
@@ -0,0 +1,14 @@
+#
+# Wavefront material file
+# Converted by Meshlab Group
+#
+
+newmtl material_0
+Ka 0.200000 0.200000 0.200000
+Kd 0.800000 0.800000 0.800000
+Ks 1.000000 1.000000 1.000000
+Tr 1.000000
+illum 2
+Ns 0.000000
+map_Kd table.png
+
@@ -0,0 +1,57 @@
+#!/usr/bin/env python
+r"""Provide the ping pong (table tennis) self.
+"""
+
+import os
+import numpy as np
+
+from pyrobolearn.worlds import BasicWorld
+
+
+__author__ = "Brian Delhaisse"
+__copyright__ = "Copyright 2019, PyRoboLearn"
+__credits__ = ["Brian Delhaisse"]
+__license__ = "GNU GPLv3"
+__version__ = "1.0.0"
+__maintainer__ = "Brian Delhaisse"
+__email__ = "briandelhaisse@gmail.com"
+__status__ = "Development"
+
+
+class PingPongWorld(BasicWorld):
+    r"""Ping Pong world
+
+    """
+
+    def __init__(self, simulator, table_position=(0., 0., 0.76), dimensions=(1., 1., 1.)):
+        super(PingPongWorld, self).__init__(simulator)
+
+        mesh_path = os.path.dirname(os.path.abspath(__file__)) + '/../../meshes/sports/pingpong/'
+
+        # ping pong
+        table = self.load_mesh(mesh_path + 'table.obj', position=table_position, scale=dimensions, mass=0,
+                               flags=1)
+        self.change_dynamics(table, restitution=0.3)
+
+        net_position = np.asarray(table_position) + np.array([0., 0., 0.01])
+        net = self.load_mesh(mesh_path + 'net.obj', position=net_position, scale=dimensions, mass=0, flags=1)
+
+        paddle1 = self.load_mesh(mesh_path + 'paddle.obj', position=(1.1, 0.4, 0.9), scale=dimensions, mass=0.08,
+                                 flags=0)
+        paddle2 = self.load_mesh(mesh_path + 'paddle.obj', position=(-1.1, -0.4, 0.9), orientation=(0., -1., 0., 0.),
+                                 scale=dimensions, mass=0.08, flags=0, return_body=False)
+        ball = self.load_sphere(position=(1., 0.35, 1.2), mass=0.0027, radius=0.020, color=None, return_body=True)
+        ball.restitution = 2.5
+
+
+# Test
+if __name__ == '__main__':
+    from itertools import count
+    import pyrobolearn as prl
+
+    sim = prl.simulators.Bullet()
+
+    world = PingPongWorld(sim)
+
+    for t in count():
+        world.step(sim.dt)
@@ -942,6 +942,44 @@ class World(object):
            return self.sim.get_closest_points(body1=body.id, body2=body2, distance=radius,
                                               link1_id=link_id, link2_id=link2_id)

+    def get_contact_bodies(self):
+        pass
+
+    def attach(self, body1, body2, link1=-1, link2=-1, contact_point=None):
+        """
+        Attach two bodies (links) together at the specified contact points.
+
+        To detach them, call ``world.detach(body1, body2, link1, link2)``.
+
+        Args:
+            body1 (int, Body): body unique id, or a Body instance.
+            body2 (int, Body): body unique id, or a Body instance.
+            link1 (int, None): link id. By default, it will be the base (=-1).
+            link2 (int, None): link id. By default, it will be the base (=-1).
+            contact_point (np.array[3], None): the contact point. If None, it will compute it. If there are multiple
+                contact points, it will attach the links to each one of them.
+
+        Returns:
+            bool: True if it was successful.
+        """
+        pass
+
+    def detach(self, body1, body2, link1=-1, link2=-1, contact_point=None):
+        """
+        Detach two bodies that were previously attached.
+
+        Args:
+            body1:
+            body2:
+            link1:
+            link2:
+            contact_point:
+
+        Returns:
+            bool: True if it was successful.
+        """
+        pass
+
    def load_floor(self, scaling=1.):
        """
        Load a basic floor in the world.
@@ -1878,12 +1916,14 @@ class World(object):
        print("Contact damping coefficient (-1 if not available): {}".format(info[8]))
        print("Contact stiffness coefficient (-1 if not available): {}".format(info[9]))

-    def change_dynamics(self, lateral_friction=1., spinning_friction=0., rolling_friction=0., restitution=0.,
-                        linear_damping=0.04, angular_damping=0.04, contact_stiffness=-1, contact_damping=-1, **kwargs):
+    def change_dynamics(self, body_id=None, lateral_friction=1., spinning_friction=0., rolling_friction=0.,
+                        restitution=0., linear_damping=0.04, angular_damping=0.04, contact_stiffness=-1,
+                        contact_damping=-1, **kwargs):
        """
-        Change the world floor dynamics.
+        Change the dynamics of a body. If no body is specified, it will be change the world floor dynamics.

        Args:
+            body_id (int, None): unique body id. If None, it will be the world floor.
            lateral_friction (float): lateral (linear) contact friction
            spinning_friction (float): torsional friction around the contact normal
            rolling_friction (float): torsional friction orthogonal to contact normal
@@ -1895,7 +1935,9 @@ class World(object):
                `contact_stiffness`. This overrides the value if it was specified in the URDF file in the contact
                section.
        """
-        self.sim.change_dynamics(body_id=self.floor_id, link_id=-1, lateral_friction=lateral_friction,
+        if body_id is None:
+            body_id = self.floor_id
+        self.sim.change_dynamics(body_id=body_id, link_id=-1, lateral_friction=lateral_friction,
                                 spinning_friction=spinning_friction, rolling_friction=rolling_friction,
                                 restitution=restitution, linear_damping=linear_damping,
                                 angular_damping=angular_damping, contact_stiffness=contact_stiffness,