From 2e1b84487b840084ecf03cd88ccf8d6a2a4522da Mon Sep 17 00:00:00 2001
From: Erwin Coumans <erwin.coumans@gmail.com>
Date: Mon, 21 Sep 2020 16:11:52 -0700
Subject: [PATCH] Add a soccerball obj/urdf, hand-modeled in Blender, using
 guidance from https://www.youtube.com/watch?v=N93n6hPsqkI (but using texture
 mapping so the export to OBJ works in PyBullet)

---
 examples/pybullet/examples/soccerball.py      |    17 +
 .../pybullet/gym/pybullet_data/colors16.png   |   Bin 0 -> 953 bytes
 .../pybullet/gym/pybullet_data/soccerball.mtl |    13 +
 .../pybullet/gym/pybullet_data/soccerball.obj | 20686 ++++++++++++++++
 .../gym/pybullet_data/soccerball.urdf         |    32 +
 5 files changed, 20748 insertions(+)
 create mode 100644 examples/pybullet/examples/soccerball.py
 create mode 100644 examples/pybullet/gym/pybullet_data/colors16.png
 create mode 100644 examples/pybullet/gym/pybullet_data/soccerball.mtl
 create mode 100644 examples/pybullet/gym/pybullet_data/soccerball.obj
 create mode 100644 examples/pybullet/gym/pybullet_data/soccerball.urdf

diff --git a/examples/pybullet/examples/soccerball.py b/examples/pybullet/examples/soccerball.py
new file mode 100644
index 000000000..dae6acd8b
--- /dev/null
+++ b/examples/pybullet/examples/soccerball.py
@@ -0,0 +1,17 @@
+import pybullet as p
+import pybullet_data as pd
+import time
+p.connect(p.GUI)
+p.setAdditionalSearchPath(pd.getDataPath())
+offset = 0
+for scale in range (1,10,1):
+  ball = p.loadURDF("soccerball.urdf",[offset,0,1], globalScaling=scale*0.1)
+  p.changeDynamics(ball,-1,linearDamping=0, angularDamping=0, rollingFriction=0.001, spinningFriction=0.001)
+  p.changeVisualShape(ball,-1,rgbaColor=[0.8,0.8,0.8,1])
+  offset += 2*scale*0.1
+p.loadURDF("plane.urdf")
+p.setGravity(0,0,-10)
+p.setRealTimeSimulation(1)
+while p.isConnected():
+  #p.getCameraImage(320,200, renderer=p.ER_BULLET_HARDWARE_OPENGL)
+  time.sleep(0.5)
diff --git a/examples/pybullet/gym/pybullet_data/colors16.png b/examples/pybullet/gym/pybullet_data/colors16.png
new file mode 100644
index 0000000000000000000000000000000000000000..ecff56b44e00deffd73f388d03037a3c89649de3
GIT binary patch
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diff --git a/examples/pybullet/gym/pybullet_data/soccerball.mtl b/examples/pybullet/gym/pybullet_data/soccerball.mtl
new file mode 100644
index 000000000..8039f459d
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/soccerball.mtl
@@ -0,0 +1,13 @@
+# Blender MTL File: 'soccerball9.blend'
+# Material Count: 1
+
+newmtl black.001
+Ns 94.117647
+Ka 1.000000 1.000000 1.000000
+Kd 1.000000 1.000000 1.000000
+Ks 1.000000 1.000000 1.000000
+Ke 0.000000 0.000000 0.000000
+Ni 1.000000
+d 1.000000
+illum 2
+map_Kd colors16.png
diff --git a/examples/pybullet/gym/pybullet_data/soccerball.obj b/examples/pybullet/gym/pybullet_data/soccerball.obj
new file mode 100644
index 000000000..d821260b2
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/soccerball.obj
@@ -0,0 +1,20686 @@
+# Blender v2.79 (sub 0) OBJ File: 'soccerball9.blend'
+# Created by Erwin Coumans
+# www.blender.org
+
+mtllib soccerball.mtl
+o Icosphere.001
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diff --git a/examples/pybullet/gym/pybullet_data/soccerball.urdf b/examples/pybullet/gym/pybullet_data/soccerball.urdf
new file mode 100644
index 000000000..706295bfc
--- /dev/null
+++ b/examples/pybullet/gym/pybullet_data/soccerball.urdf
@@ -0,0 +1,32 @@
+<?xml version="1.0" ?>
+<robot name="urdf_robot">
+  <link name="baseLink">
+  	<contact>
+      <rolling_friction value="0.03"/>
+      <spinning_friction value="0.03"/>
+    </contact>
+
+    <inertial>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+       <mass value="10.0"/>
+       <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="soccerball.obj" scale="1 1 1"/>      
+      </geometry>
+      <material name="white">
+        <color rgba="1 1 1 1"/>
+        <specular rgb="11 1 1"/>
+      </material>
+    </visual>
+    <collision>
+      <origin rpy="0 0 0" xyz="0 0 0"/>
+      <geometry>
+	 <sphere radius="0.5"/>
+      </geometry>
+    </collision>
+  </link>
+</robot>
+