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PyBullet TinyRenderer, fix cylinder (don't add caps like a capsule), also convert colors stored in visual shapes, if needed.

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erwincoumans
2018-05-10 18:37:48 -07:00
parent e488603603
commit 06a23ecd6d
2 changed files with 27 additions and 9 deletions
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33
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
View File

@@ -243,10 +243,13 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
vertices.push_back(vert); vertices.push_back(vert);
} }
} }
btVector3 pole1 = p1 - dir * rad; if (visual->m_geometry.m_type==URDF_GEOM_CAPSULE)
btVector3 pole2 = p2 + dir * rad; {
vertices.push_back(pole1); btVector3 pole1 = p1 - dir * rad;
vertices.push_back(pole2); btVector3 pole2 = p2 + dir * rad;
vertices.push_back(pole1);
vertices.push_back(pole2);
}
} else { } else {
//assume a capsule along the Z-axis, centered at the origin //assume a capsule along the Z-axis, centered at the origin
@@ -260,10 +263,13 @@ void convertURDFToVisualShape(const UrdfShape* visual, const char* urdfPathPrefi
vert[2] = -len / 2.; vert[2] = -len / 2.;
vertices.push_back(vert); vertices.push_back(vert);
} }
btVector3 pole1(0, 0, + len / 2. + rad); if (visual->m_geometry.m_type==URDF_GEOM_CAPSULE)
btVector3 pole2(0, 0, - len / 2. - rad); {
vertices.push_back(pole1); btVector3 pole1(0, 0, + len / 2. + rad);
vertices.push_back(pole2); btVector3 pole2(0, 0, - len / 2. - rad);
vertices.push_back(pole1);
vertices.push_back(pole2);
}
} }
visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0]; visualShapeOut.m_localVisualFrame[0] = tr.getOrigin()[0];
visualShapeOut.m_localVisualFrame[1] = tr.getOrigin()[1]; visualShapeOut.m_localVisualFrame[1] = tr.getOrigin()[1];
@@ -612,6 +618,17 @@ void TinyRendererVisualShapeConverter::convertVisualShapes(
} }
//printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]); //printf("UrdfMaterial %s, rgba = %f,%f,%f,%f\n",mat->m_name.c_str(),mat->m_rgbaColor[0],mat->m_rgbaColor[1],mat->m_rgbaColor[2],mat->m_rgbaColor[3]);
//m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor); //m_data->m_linkColors.insert(linkIndex,mat->m_rgbaColor);
} else
{
///programmatic created models may have the color in the visual
if (vis && vis->m_geometry.m_hasLocalMaterial)
{
for (int i = 0; i < 4; i++)
{
rgbaColor[i] = vis->m_geometry.m_localMaterial.m_matColor.m_rgbaColor[i];
}
}
} }
} }

3
examples/pybullet/gym/pybullet_utils/examples/combineUrdf.py
View File

@@ -32,6 +32,7 @@ jointPivotXYZInChild = [0,0,0]
jointPivotRPYInChild = [0,0,0] jointPivotRPYInChild = [0,0,0]
newjoint = ed0.joinUrdf(ed1, parentLinkIndex , jointPivotXYZInParent, jointPivotRPYInParent, jointPivotXYZInChild, jointPivotRPYInChild, p0._client, p1._client) newjoint = ed0.joinUrdf(ed1, parentLinkIndex , jointPivotXYZInParent, jointPivotRPYInParent, jointPivotXYZInChild, jointPivotRPYInChild, p0._client, p1._client)
newjoint.joint_type = p0.JOINT_FIXED
ed0.saveUrdf("combined.urdf") ed0.saveUrdf("combined.urdf")
@@ -47,5 +48,5 @@ ed0.createMultiBody([0,0,0],orn, pgui._client)
pgui.setRealTimeSimulation(1) pgui.setRealTimeSimulation(1)
while (pgui.isConnected()): while (pgui.isConnected()):
pgui.getCameraImage(320,200) pgui.getCameraImage(320,200, renderer=pgui.ER_BULLET_HARDWARE_OPENGL)
time.sleep(1./240.) time.sleep(1./240.)