we generate and export .obj files within blender
start blender under this directory
open blender console (ctrl-alt-w, shift-f4) and run generation script
f = "gen_objs.py"
exec(compile(open(f).read(),f,'exec'))
generate_n_objects(n=10, output_dir="objs")
exported .objs are concave only so need to run a convex decomposition on
meshes. bullet includes vhacd so use that, though this might be possible
to do directly from blender as part of the obj export?
# make vhacd tool under bullet
mkdir ~/dev; cd ~/dev
git clone git@github.com:bulletphysics/bullet3.git
cd bullet3
./build_cmake_pybullet_double.sh
run vhacd on all exported .obj files to make a corresponding .vhacd.obj file.
.obj are used for visual mesh, .vhacd.obj are used for collision.
./run_vhacd.sh objs
to load objects into bullet we need to generate .urdf files.
use the bullet example data/cube.udf as a template
./gen_urdfs.py objs