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UrdfEditor: fix indentation, causing an issue when a link had no collision shape but visual shapes

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This commit is contained in:
erwincoumans
2018-05-10 18:05:50 -07:00
parent 80bab22b9c
commit e488603603
1 changed files with 16 additions and 16 deletions
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32
examples/pybullet/gym/pybullet_utils/urdfEditor.py
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@@ -474,7 +474,7 @@ class UrdfEditor(object):
#print("len(rgbaColors)=",len(rgbaColors)) #print("len(rgbaColors)=",len(rgbaColors))
#print("len(visualFramePositions)=",len(visualFramePositions)) #print("len(visualFramePositions)=",len(visualFramePositions))
#print("len(visualFrameOrientations)=",len(visualFrameOrientations)) #print("len(visualFrameOrientations)=",len(visualFrameOrientations))
print("fileNames=",fileNames)
baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes, baseVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes,
halfExtents=halfExtents,radii=radii,lengths=lengths,fileNames=fileNames, halfExtents=halfExtents,radii=radii,lengths=lengths,fileNames=fileNames,
@@ -513,7 +513,7 @@ class UrdfEditor(object):
linkMeshScaleArray=[] linkMeshScaleArray=[]
linkPositionsArray=[] linkPositionsArray=[]
linkOrientationsArray=[] linkOrientationsArray=[]
for v in link.urdf_collision_shapes: for v in link.urdf_collision_shapes:
shapeType = v.geom_type shapeType = v.geom_type
linkShapeTypeArray.append(shapeType) linkShapeTypeArray.append(shapeType)
@@ -536,22 +536,22 @@ class UrdfEditor(object):
collisionFrameOrientations=linkOrientationsArray, collisionFrameOrientations=linkOrientationsArray,
physicsClientId=physicsClientId) physicsClientId=physicsClientId)
urdfVisuals = link.urdf_visual_shapes urdfVisuals = link.urdf_visual_shapes
linkVisualShapeIndex = -1 linkVisualShapeIndex = -1
shapeTypes=[v.geom_type for v in urdfVisuals] shapeTypes=[v.geom_type for v in urdfVisuals]
halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals] halfExtents=[[ext * 0.5 for ext in v.geom_extents] for v in urdfVisuals]
radii=[v.geom_radius for v in urdfVisuals] radii=[v.geom_radius for v in urdfVisuals]
lengths=[v.geom_length for v in urdfVisuals] lengths=[v.geom_length for v in urdfVisuals]
fileNames=[v.geom_meshfilename for v in urdfVisuals] fileNames=[v.geom_meshfilename for v in urdfVisuals]
meshScales=[v.geom_meshscale for v in urdfVisuals] meshScales=[v.geom_meshscale for v in urdfVisuals]
rgbaColors=[v.material_rgba for v in urdfVisuals] rgbaColors=[v.material_rgba for v in urdfVisuals]
visualFramePositions=[v.origin_xyz for v in urdfVisuals] visualFramePositions=[v.origin_xyz for v in urdfVisuals]
visualFrameOrientations=[p.getQuaternionFromEuler(v.origin_rpy) for v in urdfVisuals] visualFrameOrientations=[p.getQuaternionFromEuler(v.origin_rpy) for v in urdfVisuals]
if (len(shapeTypes)): if (len(shapeTypes)):
print("fileNames=",fileNames) print("fileNames=",fileNames)
linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes, linkVisualShapeIndex = p.createVisualShapeArray(shapeTypes=shapeTypes,
halfExtents=halfExtents,radii=radii,lengths=lengths, halfExtents=halfExtents,radii=radii,lengths=lengths,
fileNames=fileNames,meshScales=meshScales,rgbaColors=rgbaColors, fileNames=fileNames,meshScales=meshScales,rgbaColors=rgbaColors,
visualFramePositions=visualFramePositions, visualFramePositions=visualFramePositions,