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Expose a better API to allow any render engine to be used for the physics simulation when loading URDF/SDF files.

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See bullet3/examples/Importers/ImportURDFDemo/DefaultVisualShapeConverter.h
Give the kuka_iiwa/model.urdf some blue color, not just orange, to mimick the original a bit better
Preparation for the CMD_CAMERA_IMAGE_COMPLETED command, to expose a virtual camera to the robotics API
This commit is contained in:
erwin coumans
2016-05-19 18:37:15 -07:00
parent f4775c360f
commit 2fc0358750
23 changed files with 575 additions and 437 deletions
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12
data/kuka_iiwa/model.urdf
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@@ -47,6 +47,10 @@
<material name="Orange">
<color rgba="1.0 0.423529411765 0.0392156862745 1.0"/>
</material>
<material name="Blue">
<color rgba="0.5 0.7 1.0 1.0"/>
</material>
<!--Import the lbr iiwa macro -->
<!--Import Transmissions -->
<!--Include Utilities -->
@@ -97,7 +101,7 @@
<geometry>
<mesh filename="meshes/link_1.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -126,7 +130,7 @@
<geometry>
<mesh filename="meshes/link_2.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -184,7 +188,7 @@
<geometry>
<mesh filename="meshes/link_4.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>
@@ -213,7 +217,7 @@
<geometry>
<mesh filename="meshes/link_5.stl"/>
</geometry>
<material name="Orange"/>
<material name="Blue"/>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0"/>