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add texture support in SDF, URDF for both OpenGL and software renderer (TinyRenderer)

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This commit is contained in:
Erwin Coumans
2016-06-18 18:02:20 -07:00
parent 6369e3e12a
commit e3b2b1a969
8 changed files with 143 additions and 62 deletions
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2
data/sphere2.urdf
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@@ -9,7 +9,7 @@
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
<geometry>
<sphere radius="0.5"/>
<mesh filename="textured_sphere_smooth.obj" scale="0.5 0.5 0.5"/>
</geometry>
</visual>
<collision>

26
data/two_cubes.sdf
View File

@@ -122,11 +122,13 @@
</collision>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<mesh>
<scale>1 1 1</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
<material>
<diffuse>1 1 1 1</diffuse>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
@@ -172,17 +174,15 @@
</friction>
</surface>
</collision>
<visual name='visual'>
<visual name='visual'>
<geometry>
<box>
<size>1 1 1</size>
</box>
</geometry>
<mesh>
<scale>1 1 1</scale>
<uri>cube.obj</uri>
</mesh>
</geometry>
<material>
<script>
<name>Gazebo/Grey</name>
<uri>file://media/materials/scripts/gazebo.material</uri>
</script>
<diffuse>1 1 1 1</diffuse>
</material>
</visual>
<self_collide>0</self_collide>