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PyBullet urdfEditor improvements: saveUrdf mesh scale, fix incorrect index, add getCameraImage in examples/combineUrdf.py

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This commit is contained in:
Erwin Coumans
2018-05-09 10:28:12 -07:00
parent 1e51e2b859
commit 414b3ef9bb
4 changed files with 14 additions and 7 deletions
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8
examples/pybullet/gym/pybullet_utils/urdfEditor.py
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@@ -216,7 +216,9 @@ class UrdfEditor(object):
prec=precision)
file.write(str)
if urdfVisual.geom_type == p.GEOM_MESH:
str = '\t\t\t\t<mesh filename=\"{}\"/>\n'.format(urdfVisual.geom_meshfilename,\
str = '\t\t\t\t<mesh filename=\"{}\" scale=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"/>\n'.format(
urdfVisual.geom_meshfilename,urdfVisual.geom_meshscale[0],urdfVisual.geom_meshscale[1],urdfVisual.geom_meshscale[2],\
prec=precision)
file.write(str)
if urdfVisual.geom_type == p.GEOM_CYLINDER:
@@ -253,8 +255,8 @@ class UrdfEditor(object):
prec=precision)
file.write(str)
if urdfCollision.geom_type == p.GEOM_MESH:
str = '\t\t\t\t<mesh filename=\"{}\"/>\n'.format(urdfCollision.geom_meshfilename,\
prec=precision)
str = '\t\t\t\t<mesh filename=\"{}\"/> scale=\"{:.{prec}f} {:.{prec}f} {:.{prec}f}\"\n'.format(urdfCollision.geom_meshfilename,\
urdfCollision.geom_meshscale[0],urdfCollision.geom_meshscale[1],urdfCollision.geom_meshscale[2],prec=precision)
file.write(str)
if urdfCollision.geom_type == p.GEOM_CYLINDER:
str = '\t\t\t\t<cylinder length=\"{:.{prec}f}\" radius=\"{:.{prec}f}\"/>\n'.format(\