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Modify table rendering.

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This commit is contained in:
YunfeiBai
2016-09-30 12:30:34 -07:00
parent a2dacce3d4
commit 8befdcba1a
6 changed files with 160 additions and 8 deletions
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27
data/table/table.urdf
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@@ -24,6 +24,33 @@
<box size="1.5 1 0.05"/>
</geometry>
</collision>
<visual>
<origin rpy="0 0 0" xyz="-0.65 -0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.65 0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.65 -0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.65 0.4 0.29"/>
<geometry>
<mesh filename="table.obj" scale="0.1 0.1 0.58"/>
</geometry>
</visual>
</link>
</robot>

BIN
data/table_square/checker_grid.jpg Normal file
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16
data/table_square/table.mtl Normal file
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@@ -0,0 +1,16 @@
newmtl table
Ns 10.0000
Ni 1.5000
d 1.0000
Tr 0.0000
Tf 1.0000 1.0000 1.0000
illum 2
Ka 0.0000 0.0000 0.0000
Kd 0.5880 0.5880 0.5880
Ks 0.0000 0.0000 0.0000
Ke 0.0000 0.0000 0.0000
map_Ka table.tga
map_Kd checker_grid.jpg

48
data/table_square/table.obj Normal file
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@@ -0,0 +1,48 @@
# table.obj
#
o table
mtllib table.mtl
v -0.500000 -0.500000 0.500000
v 0.500000 -0.500000 0.500000
v -0.500000 0.500000 0.500000
v 0.500000 0.500000 0.500000
v -0.500000 0.500000 -0.500000
v 0.500000 0.500000 -0.500000
v -0.500000 -0.500000 -0.500000
v 0.500000 -0.500000 -0.500000
vt 0.000000 0.000000
vt 1.000000 0.000000
vt 0.000000 1.000000
vt 1.000000 1.000000
vn 0.000000 0.000000 1.000000
vn 0.000000 1.000000 0.000000
vn 0.000000 0.000000 -1.000000
vn 0.000000 -1.000000 0.000000
vn 1.000000 0.000000 0.000000
vn -1.000000 0.000000 0.000000
g table
usemtl table
s 1
f 1/1/1 2/2/1 3/3/1
f 3/3/1 2/2/1 4/4/1
s 2
f 3 4 5
f 5 4 6
s 3
f 5 6 7
f 7 6 8
s 4
f 7 8 1
f 1 8 2
s 5
f 2 8 4
f 4 8 6
s 6
f 7 1 5
f 5 1 3

61
data/table_square/table_square.urdf Normal file
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@@ -0,0 +1,61 @@
<?xml version="0.0" ?>
<robot name="urdf_table">
<link name="world"/>
<joint name="fixed" type="fixed">
<parent link="world"/>
<child link="baseLink"/>
<origin xyz="0 0 0"/>
</joint>
<link name="baseLink">
<inertial>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<mass value="0"/>
<inertia ixx="0.1" ixy="0" ixz="0" iyy="0.1" iyz="0" izz="0.1"/>
</inertial>
<visual>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<mesh filename="table.obj" scale="0.6 0.6 0.08"/>
</geometry>
<material name="framemat0">
<color
rgba="1 1 1 1" />
</material>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.25 -0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="-0.25 0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.25 -0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
<material name="framemat0"/>
</visual>
<visual>
<origin rpy="0 0 0" xyz="0.25 0.25 0.28"/>
<geometry>
<box size="0.05 0.05 0.56"/>
</geometry>
</visual>
<collision>
<origin rpy="0 0 0" xyz="0 0 0.6"/>
<geometry>
<box size="0.6 0.6 0.08"/>
</geometry>
</collision>
</link>
</robot>

16
examples/SharedMemory/PhysicsServerCommandProcessor.cpp
View File

@@ -3110,7 +3110,7 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
// Table area
loadUrdf("table/table.urdf", objectWorldTr[0].getOrigin(), objectWorldTr[0].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("tray.urdf", objectWorldTr[1].getOrigin(), objectWorldTr[1].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cup_small.urdf", objectWorldTr[2].getOrigin(), objectWorldTr[2].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("pitcher_small.urdf", objectWorldTr[3].getOrigin(), objectWorldTr[3].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("teddy_vhacd.urdf", objectWorldTr[4].getOrigin(), objectWorldTr[4].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("cube_small.urdf", objectWorldTr[5].getOrigin(), objectWorldTr[5].getRotation(), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
@@ -3124,13 +3124,13 @@ void PhysicsServerCommandProcessor::stepSimulationRealTime(double dtInSec)
loadUrdf("cube_small.urdf", btVector3(0.3, 0.6, 0.85), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
// Chess area
loadUrdf("table_square.urdf", btVector3(-1.0, 0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("pawn.urdf", btVector3(-0.8, -0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("queen.urdf", btVector3(-0.9, -0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("king.urdf", btVector3(-1.0, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("bishop.urdf", btVector3(-1.1, 0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
//loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("table_square/table_square.urdf", btVector3(-1.0, 0, 0.0), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("pawn.urdf", btVector3(-0.8, -0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("queen.urdf", btVector3(-0.9, -0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("king.urdf", btVector3(-1.0, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("bishop.urdf", btVector3(-1.1, 0.1, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("rook.urdf", btVector3(-1.2, 0, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("knight.urdf", btVector3(-1.2, 0.2, 0.7), btQuaternion(btVector3(1, 0, 0), SIMD_HALF_PI), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
loadUrdf("husky/husky.urdf", btVector3(2, -5, 1), btQuaternion(0, 0, 0, 1), true, false, &bodyId, &gBufferServerToClient[0], gBufferServerToClient.size());
m_data->m_huskyId = bodyId;