Open
Conversation
Setting w=0 of a vertex results in its placement at the camera origin instead of removing it from the scene. By using w=NAN, these vertices are not visualized at all.
This enables the possibility to provide more joints than needed by the model. In this case, required joints are automatically taken from the provided map.
The kinematic tree in the mesh is traversed recursively to obtain all vertices, normals and faces and their transformation into the root node frame. For mehses without tree structure (e.g. obj) there is only one node which is the root node.
Link and Joints are extracted recursively from the root link that is automatically determined or can be provided by the user. Joints are stores as frames in the DART model, Links define the geometric representation. The package path is determined automatically and a optional mesh file extension can be provided to load meshes from other file types than provided in the URDF description.
If file "package.xml" does exists in paths down to the root and package URI "package://" is not used in the mesh path, the given mesh path will be interpreted as path relative to the *.urdf file.
|
I used the readModelURDF function to read URDF models and thankfully, it works. I think this part written by Christian should be merged into master. |
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
2 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
This set of commits enables to use URDF robot models in DART.
Summary of changes:
dart::readModelURDFto obtain a dart model from a URDF fileobjanddae(collada) and ensure that only triangle meshes are added