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Enable URDF parser to read visual and collision names #1410

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merged 4 commits into from
Aug 29, 2019
Merged

Enable URDF parser to read visual and collision names #1410

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140af7a
Enable to read visual and collision names in URDF parser
Aug 29, 2019
6b395fd
Update changelog
Aug 29, 2019
566ce21
Merge remote-tracking branch 'origin/master' into urdf_visual_collisi…
jslee02 Aug 29, 2019
7893b02
Use raw string literal to avoid escaping for quotation marks
jslee02 Aug 29, 2019
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1 change: 1 addition & 0 deletions CHANGELOG.md
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Original file line number Diff line number Diff line change
Expand Up @@ -24,6 +24,7 @@
* Allowed parsing SDF up to version 1.6: [#1385](https://github.com/dartsim/dart/pull/1385)
* Fixed SDF parser not creating dynamics aspect for collision shape: [#1386](https://github.com/dartsim/dart/pull/1386)
* Added root joint parsing option in URDF parser: [#1399](https://github.com/dartsim/dart/pull/1399), [#1406](https://github.com/dartsim/dart/pull/1406)
* Enabled URDF parser to read visual and collision names: [#1410](https://github.com/dartsim/dart/pull/1410)

* dartpy

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4 changes: 4 additions & 0 deletions dart/utils/urdf/DartLoader.cpp
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Expand Up @@ -626,6 +626,8 @@ bool DartLoader::createShapeNodes(
{
auto shapeNode
= bodyNode->createShapeNodeWith<dynamics::VisualAspect>(shape);
if (not visual->name.empty())
shapeNode->setName(visual->name);
shapeNode->setRelativeTransform(toEigen(visual->origin));
setMaterial(model, shapeNode->getVisualAspect(), visual.get());
}
Expand All @@ -646,6 +648,8 @@ bool DartLoader::createShapeNodes(
auto shapeNode = bodyNode->createShapeNodeWith<
dynamics::CollisionAspect,
dynamics::DynamicsAspect>(shape);
if (not collision->name.empty())
shapeNode->setName(collision->name);
shapeNode->setRelativeTransform(toEigen(collision->origin));
}
else
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