Added meshes and xml for sim example.

neurobionics · Jan 3, 2025 · b32737d · b32737d
1 parent c1636a8
commit b32737d
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Showing 4 changed files with 11 additions and 1 deletion.
diff --git a/.gitignore b/.gitignore
@@ -198,3 +198,7 @@ tests/**/*.json
 examples/**/*.xml
 
 playground
+
+# dont ignore the stl and xml files within the simulation folder
+!examples/simulation/**/ball.stl
+!examples/simulation/**/ball.xml
diff --git a/examples/simulation/ball.xml b/examples/simulation/ball.xml
@@ -0,0 +1,6 @@
+<body name="ball" pos="0 0 0.132" quat="1 0 0 0">
+    <freejoint name="ball" />
+    <inertial pos="0 0 -0.0075" quat="0.5 0.5 -0.5 0.5" mass="0.524" diaginertia="0.073541512 0.07356916 0.073543931" />
+    <geom name="Part-1-1-collision" type="mesh" rgba="1 0.55 0 1" mesh="Part-1-1" condim="3" contype="1" conaffinity="1" density="0" group="0" friction="0.1 0.05 0.001"/>
+    <geom type="mesh" rgba="1 0.55 0 1" mesh="Part-1-1" conaffinity="0" condim="1" contype="0" density="0" group="1"/>
+</body>
diff --git a/examples/simulation/meshes/ball.stl b/examples/simulation/meshes/ball.stl
diff --git a/examples/simulation/mods.py b/examples/simulation/mods.py
@@ -63,7 +63,7 @@ def modify_ballbot(ballbot: Robot) -> Robot:
         sensor=Gyro(name="gyro-1", site="imu", noise=0.001, cutoff=34.9),
     )
 
-    ballbot_mesh = ET.Element("mesh", attrib={"file": "meshes/Part-1-1.stl"})
+    ballbot_mesh = ET.Element("mesh", attrib={"name": "Part-1-1", "file": "meshes/ball.stl"})
     ballbot.add_custom_element_by_tag(name="ballbot", parent_tag="asset", element=ballbot_mesh)
     ball = load_element("ball.xml")
     ballbot.add_custom_element_by_tag(name="ball", parent_tag="worldbody", element=ball)