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Add kiva_shelf to prepare for picking/grasping task

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Fix uninitialized variable jointDamping/jointFriction in SDF importer
Add SDF <pose> parsing in visual, inertial, collision elements.
Slight improvement in TinyRender loading performance of largish meshes (30k vertices)
Reduce #define MAX_SDF_BODIES to 500, due to some issue in client code, todo: figure out what the issue is.
b3RobotSimAPI support SDF file loading
Tiny improvement in OpenGL hardware renderer lighting, to distinguish faces without textures
This commit is contained in:
erwin coumans
2016-07-14 00:05:57 -07:00
parent 10cc6f14cb
commit 4a705d1e03
25 changed files with 399 additions and 88 deletions
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55
data/kiva_shelf/model.sdf Normal file
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<?xml version="1.0" ?>
<sdf version="1.4">
<model name="Amazon Pod">
<static>1</static>
<pose>0 2 1.21 0 0 0</pose>
<link name="pod_link">
<inertial>
<pose>0.0 0.0 1.2045 0 0 0</pose>
<mass>76.26</mass>
<inertia>
<ixx>47</ixx>
<ixy>-0.003456</ixy>
<ixz>0.001474</ixz>
<izz>13.075</izz>
<iyz>-0.014439</iyz>
<iyy>47</iyy>
</inertia>
</inertial>
<visual name="pod_visual">
<pose>0 0 0 1.5707 0 0 </pose>
<geometry>
<mesh>
<uri>meshes/pod_lowres.stl</uri>
</mesh>
</geometry>
<material>
<diffuse>0.9 0.8 0.5 1</diffuse>
</material>
</visual>
<collision name="pod_collision">
<pose>0 0 0 1.5707 0 0</pose>
<geometry>
<mesh>
<uri>meshes/pod_lowres.stl</uri>
</mesh>
</geometry>
<surface>
<friction>
<ode>
<mu>0.8</mu>
<mu2>0.8</mu2>
<fdir1>0.0 0.0 0.0</fdir1>
<slip1>1.0</slip1>
<slip2>1.0</slip2>
</ode>
</friction>
</surface>
</collision>
</link>
</model>
</sdf>