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Code Issues Releases Wiki Activity

URDF loader: fix SDF branch, warn about unsupported geometry

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This commit is contained in:
Oleg Klimov 2017-03-14 02:32:02 +03:00
parent 3a8199ec28
commit fa60cc5f56
3 changed files with 61 additions and 59 deletions
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5
examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp
View File

@ -755,7 +755,8 @@ upAxisMat.setIdentity();
} // mesh case
default:
b3Warning("Error: unknown visual geometry type\n");
b3Warning("Error: unknown collision geometry type %i\n", collision->m_geometry.m_type);
// for example, URDF_GEOM_PLANE
}
return shape;
}
@ -943,7 +944,7 @@ static void convertURDFToVisualShapeInternal(const UrdfVisual* visual, const cha
}
default:
b3Warning("Error: unknown visual geometry type\n");
b3Warning("Error: unknown visual geometry type %i\n", visual->m_geometry.m_type);
}
//if we have a convex, tesselate into localVertices/localIndices

113
examples/Importers/ImportURDFDemo/UrdfParser.cpp
View File

@ -410,67 +410,68 @@ bool UrdfParser::parseGeometry(UrdfGeometry& geom, TiXmlElement* g, ErrorLogger*
geom.m_type = URDF_GEOM_CAPSULE;
if (!shape->Attribute("length") ||
!shape->Attribute("radius"))
{
logger->reportError("Capsule shape must have both length and radius attributes");
return false;
}
{
logger->reportError("Capsule shape must have both length and radius attributes");
return false;
}
geom.m_hasFromTo = false;
geom.m_capsuleRadius = urdfLexicalCast<double>(shape->Attribute("radius"));
geom.m_capsuleHalfHeight = btScalar(0.5)*urdfLexicalCast<double>(shape->Attribute("length"));
}
else if (type_name == "mesh")
{
geom.m_type = URDF_GEOM_MESH;
if (m_parseSDF)
{
TiXmlElement* scale = shape->FirstChildElement("scale");
if (0==scale)
{
geom.m_meshScale.setValue(1,1,1);
}
else
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
}
TiXmlElement* filename = shape->FirstChildElement("uri");
geom.m_meshFileName = filename->GetText();
}
else
{
if (!shape->Attribute("filename"))
{
logger->reportError("Mesh must contain a filename attribute");
return false;
}
bool success = findExistingMeshFile(
m_urdf2Model.m_sourceFile, shape->Attribute("filename"), sourceFileLocation(shape),
&geom.m_meshFileName, &geom.m_meshFileType);
if (!success)
{
// warning printed
return false;
}
geom.m_meshScale.setValue(1,1,1);
else if (type_name == "mesh")
{
geom.m_type = URDF_GEOM_MESH;
geom.m_meshScale.setValue(1,1,1);
std::string fn;
if (shape->Attribute("scale"))
{
if (!parseVector3(geom.m_meshScale,shape->Attribute("scale"),logger))
{
logger->reportWarning("%s: scale should be a vector3, not single scalar. Workaround activated.\n");
std::string scalar_str = shape->Attribute("scale");
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
if (scaleFactor)
{
geom.m_meshScale.setValue(scaleFactor,scaleFactor,scaleFactor);
}
}
} else
{
}
}
if (m_parseSDF)
{
if (TiXmlElement* scale = shape->FirstChildElement("scale"))
{
parseVector3(geom.m_meshScale,scale->GetText(),logger);
}
if (TiXmlElement* filename = shape->FirstChildElement("uri"))
{
fn = filename->GetText();
}
}
else
{
// URDF
if (shape->Attribute("filename"))
{
fn = shape->Attribute("filename");
}
if (shape->Attribute("scale"))
{
if (!parseVector3(geom.m_meshScale, shape->Attribute("scale"), logger))
{
logger->reportWarning("Scale should be a vector3, not single scalar. Workaround activated.\n");
std::string scalar_str = shape->Attribute("scale");
double scaleFactor = urdfLexicalCast<double>(scalar_str.c_str());
if (scaleFactor)
{
geom.m_meshScale.setValue(scaleFactor, scaleFactor, scaleFactor);
}
}
}
}
if (fn.empty())
{
logger->reportError("Mesh filename is empty");
return false;
}
geom.m_meshFileName = fn;
bool success = findExistingMeshFile(
m_urdf2Model.m_sourceFile, fn, sourceFileLocation(shape),
&geom.m_meshFileName, &geom.m_meshFileType);
if (!success)
{
// warning already printed
return false;
}
}
else
{

2
examples/SharedMemory/TinyRendererVisualShapeConverter.cpp
View File

@ -380,7 +380,7 @@ void convertURDFToVisualShape(const UrdfVisual* visual, const char* urdfPathPref
default:
{
b3Warning("Error: unknown visual geometry type\n");
b3Warning("TinyRenderer: unknown visual geometry type %i\n", visual->m_geometry.m_type);
}
}