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Merge pull request #1680 from erwincoumans/master

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PyBullet TinyRenderer, fix cylinder, colors for programmatic created models (PyBullet.createMultiBody), UrdfEditor: fix indentation
This commit is contained in:
erwincoumans
2018-05-10 19:08:37 -07:00
committed by GitHub
parent 50cca1013b 06a23ecd6d
commit 282154f377
3 changed files with 43 additions and 25 deletions
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33
examples/SharedMemory/plugins/tinyRendererPlugin/TinyRendererVisualShapeConverter.cpp
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@@ -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
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@@ -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.)

32
examples/pybullet/gym/pybullet_utils/urdfEditor.py
View File

@@ -474,7 +474,7 @@ class UrdfEditor(object):
#print("len(rgbaColors)=",len(rgbaColors)) #print("len(rgbaColors)=",len(rgbaColors))
#print("len(visualFramePositions)=",len(visualFramePositions)) #print("len(visualFramePositions)=",len(visualFramePositions))
#print("len(visualFrameOrientations)=",len(visualFrameOrientations)) #print("len(visualFrameOrientations)=",len(visualFrameOrientations))
print("fileNames=",fileNames)
baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes, baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes,
halfExtents=halfExtents,radii=radii,lengths=lengths,fileNames=fileNames, halfExtents=halfExtents,radii=radii,lengths=lengths,fileNames=fileNames,
@@ -513,7 +513,7 @@ class UrdfEditor(object):
linkMeshScaleArray=[] linkMeshScaleArray=[]
linkPositionsArray=[] linkPositionsArray=[]
linkOrientationsArray=[] linkOrientationsArray=[]
for v in link.urdf_collision_shapes: for v in link.urdf_collision_shapes:
shapeType = v.geom_type shapeType = v.geom_type
linkShapeTypeArray.append(shapeType) linkShapeTypeArray.append(shapeType)
@@ -536,22 +536,22 @@ class UrdfEditor(object):
collisionFrameOrientations=linkOrientationsArray, collisionFrameOrientations=linkOrientationsArray,
physicsClientId=physicsClientId) physicsClientId=physicsClientId)
urdfVisuals = link.urdf_visual_shapes urdfVisuals = link.urdf_visual_shapes
linkVisualShapeIndex = -1 linkVisualShapeIndex = -1
shapeTypes=[v.geom_type for v in urdfVisuals] shapeTypes=[v.geom_type for v in urdfVisuals]
halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals] halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals]
radii=[v.geom_radius for v in urdfVisuals] radii=[v.geom_radius for v in urdfVisuals]
lengths=[v.geom_length for v in urdfVisuals] lengths=[v.geom_length for v in urdfVisuals]
fileNames=[v.geom_meshfilename for v in urdfVisuals] fileNames=[v.geom_meshfilename for v in urdfVisuals]
meshScales=[v.geom_meshscale for v in urdfVisuals] meshScales=[v.geom_meshscale for v in urdfVisuals]
rgbaColors=[v.material_rgba for v in urdfVisuals] rgbaColors=[v.material_rgba for v in urdfVisuals]
visualFramePositions=[v.origin_xyz for v in urdfVisuals] visualFramePositions=[v.origin_xyz for v in urdfVisuals]
visualFrameOrientations=[p.getQuaternionFromEuler(v.origin_rpy) for v in urdfVisuals] visualFrameOrientations=[p.getQuaternionFromEuler(v.origin_rpy) for v in urdfVisuals]
if (len(shapeTypes)): if (len(shapeTypes)):
print("fileNames=",fileNames) print("fileNames=",fileNames)
linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes, linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes,
halfExtents=halfExtents,radii=radii,lengths=lengths, halfExtents=halfExtents,radii=radii,lengths=lengths,
fileNames=fileNames,meshScales=meshScales,rgbaColors=rgbaColors, fileNames=fileNames,meshScales=meshScales,rgbaColors=rgbaColors,
visualFramePositions=visualFramePositions, visualFramePositions=visualFramePositions,