URDF robot model support #7
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Setting w=0 of a vertex results in its placement at the camera origin instead of removing it from the scene. By using w=NAN, these vertices are not visualized at all.
This enables the possibility to provide more joints than needed by the model. In this case, required joints are automatically taken from the provided map.
The kinematic tree in the mesh is traversed recursively to obtain all vertices, normals and faces and their transformation into the root node frame. For mehses without tree structure (e.g. obj) there is only one node which is the root node.
Link and Joints are extracted recursively from the root link that is automatically determined or can be provided by the user. Joints are stores as frames in the DART model, Links define the geometric representation. The package path is determined automatically and a optional mesh file extension can be provided to load meshes from other file types than provided in the URDF description.
If file "package.xml" does exists in paths down to the root and package URI "package://" is not used in the mesh path, the given mesh path will be interpreted as path relative to the *.urdf file.
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I used the readModelURDF function to read URDF models and thankfully, it works. I think this part written by Christian should be merged into master. |
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This set of commits enables to use URDF robot models in DART.
Summary of changes:
dart::readModelURDFto obtain a dart model from a URDF fileobjanddae(collada) and ensure that only triangle meshes are added