UrdfImporter plugin #122
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UrdfImporter plugin #122
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Codecov ReportBase: 97.03% // Head: 95.70% // Decreases project coverage by
Additional details and impacted files@@ Coverage Diff @@
## master #122 +/- ##
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- Coverage 97.03% 95.70% -1.33%
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Files 133 118 -15
Lines 15028 11875 -3153
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- Hits 14582 11365 -3217
- Misses 446 510 +64
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The main purpose is two-fold -- being able to visualize the URDF hierarchy using standard tools, and as a showcase of the flexibility of SceneData custom fields, which preserve everything including the URDF-specific physics properties. TODO: finish the data import (inertia matrices, etc.), make it more robust TODO: mesh & material import -- delegating to AnySceneImporter for these, joining the nested hierarchies somehow (needs a utility in SceneTools, ideally) TODO: ability to not import nested models but instead expose them as custom SceneData (string) fields -- needs ability to store strings there; what about the color overrides then? have a MeshMaterial field alone, without any mesh? TODO: explicitly mark what's a joint and what's a link via a custom SceneData bit field, ideally -- needs bitfields in Corrade first TODO: docs about custom fields TODO: CI setup TODO: tests, look for constraints in the URDF itself TODO: expose in all packages TODO: expose in FindMagnumPlugins
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The main purpose is two-fold -- being able to visualize the URDF hierarchy using standard tools, and as a showcase of the flexibility of
SceneDatacustom fields, which preserve everything including the URDF-specific physics properties.Originally just a fun exercise of "how far can I get with implementing a parser for a format I know nothing about in under 3 hours", but because I got quite far it'd be bad to just throw it away now. Things left to do because yes everything always explodes into 100+ tasks in the end:
MAGNUM_, especially the static build etcmesh & material import -- delegating tonot handled here, will be a high-level utility inAnySceneImporterfor these, joining the nested hierarchies somehowSceneToolsinsteadSceneData(string)ExternalModelfield with their filenamehave ahave aMeshMaterialfield alone, without anyMesh? or store the color as a custom scene field in that case instead?ExternalModelMaterialfield tied toExternalModel, same as isMeshMaterialtied toMeshSceneDatabit field, or maybe have a string "type" field?)SceneDatanested scene joiningnested model referencesFindMagnumPlugins.cmake