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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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57
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@@ -225,6 +225,15 @@ bool UrdfParser::parseInertia(UrdfInertia& inertia, TiXmlElement* config, ErrorL
{
inertia.m_linkLocalFrame.setIdentity();
inertia.m_mass = 0.f;
if(m_parseSDF)
{
TiXmlElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(inertia.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
@@ -448,6 +457,15 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config,
collision.m_linkLocalFrame.setIdentity();
if(m_parseSDF)
{
TiXmlElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(collision.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
TiXmlElement *o = config->FirstChildElement("origin");
if (o)
@@ -474,7 +492,15 @@ bool UrdfParser::parseCollision(UrdfCollision& collision, TiXmlElement* config,
bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement* config, ErrorLogger* logger)
{
visual.m_linkLocalFrame.setIdentity();
if(m_parseSDF)
{
TiXmlElement* pose = config->FirstChildElement("pose");
if (pose)
{
parseTransform(visual.m_linkLocalFrame, pose,logger,m_parseSDF);
}
}
// Origin
TiXmlElement *o = config->FirstChildElement("origin");
if (o)
@@ -505,6 +531,8 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
{
UrdfMaterial* matPtr = new UrdfMaterial;
matPtr->m_name = "mat";
if (name_char)
matPtr->m_name = name_char;
TiXmlElement *diffuse = mat->FirstChildElement("diffuse");
if (diffuse) {
std::string diffuseText = diffuse->GetText();
@@ -512,7 +540,7 @@ bool UrdfParser::parseVisual(UrdfModel& model, UrdfVisual& visual, TiXmlElement*
parseVector4(rgba,diffuseText);
matPtr->m_rgbaColor = rgba;
model.m_materials.insert(matPtr->m_name.c_str(),matPtr);
visual.m_materialName = "mat";
visual.m_materialName = matPtr->m_name;
visual.m_hasLocalMaterial = true;
}
}
@@ -670,6 +698,8 @@ bool UrdfParser::parseJointLimits(UrdfJoint& joint, TiXmlElement* config, ErrorL
joint.m_upperLimit = 0.f;
joint.m_effortLimit = 0.f;
joint.m_velocityLimit = 0.f;
joint.m_jointDamping = 0.f;
joint.m_jointFriction = 0.f;
if (m_parseSDF)
{
@@ -1281,15 +1311,22 @@ bool UrdfParser::loadSDF(const char* sdfText, ErrorLogger* logger)
return false;
}
TiXmlElement *world_xml = sdf_xml->FirstChildElement("world");
if (!world_xml)
{
logger->reportError("expected a world element");
return false;
}
//apparently, SDF doesn't require a "world" element, optional? URDF does.
TiXmlElement *world_xml = sdf_xml->FirstChildElement("world");
TiXmlElement* robot_xml = 0;
if (!world_xml)
{
logger->reportWarning("expected a world element, continuing without it.");
robot_xml = sdf_xml->FirstChildElement("model");
} else
{
robot_xml = world_xml->FirstChildElement("model");
}
// Get all model (robot) elements
for (TiXmlElement* robot_xml = world_xml->FirstChildElement("model"); robot_xml; robot_xml = robot_xml->NextSiblingElement("model"))
for (; robot_xml; robot_xml = robot_xml->NextSiblingElement("model"))
{
UrdfModel* localModel = new UrdfModel;
m_tmpModels.push_back(localModel);

9
examples/Importers/ImportURDFDemo/UrdfParser.h
View File

@@ -125,6 +125,15 @@ struct UrdfJoint
double m_jointDamping;
double m_jointFriction;
UrdfJoint()
:m_lowerLimit(0),
m_upperLimit(0),
m_effortLimit(0),
m_velocityLimit(0),
m_jointDamping(0),
m_jointFriction(0)
{
}
};
struct UrdfModel