Add idyntree-model-simplify-shapes command line tool #941
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At the moment, this header contains just the approximateSolidShapesWithPrimitiveShape function, useful to approximate the solid shapes of a given iDynTree::Model to a series of bounding boxes.
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To give an example of this tool, if one runs it on the This is the result. Before: After: |
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FYI @fabiodinatale @VenusPasandi @valentino-razza @CarlottaSartore, as soon as this PR is merged (is targed toward master) I plan to release iDynTree v4.3.0 so that this feature is quickly available even in conda binary packages. |
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FYI @CarlottaSartore @Nicogene @GrmanRodriguez @akhilsathuluri This is not a tutorial like discussed in #935, but it is for sure a simple tool that show the possibility related to programatically modify URDF-like robot models, and also a tool that could be useful in general in co-design and in hardware/software design loops. |
src/solid-shapes/include/iDynTree/ModelTransformersSolidShapes.h
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src/solid-shapes/include/iDynTree/ModelTransformersSolidShapes.h
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This tool is useful to take in input a model, and return in output the same model, but with all the geometries of the model approximated with their axis aligned bounding boxes. Fix #933 .
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@fabiodinatale Just FYI, thanks to this PR, #945 and conda-forge/idyntree-feedstock#17 now this tool is part of the new release v4.3.0 of iDynTree, that is now part of conda-forge. So if you create a new environment, you will get the latest iDynTree with this tool. |
This tool is useful to take in input a model, and return in output the same model, but with all the geometries of the model approximated with their axis aligned bounding boxes. This implements what was described in #933 . This tool is only available if iDynTree is compiled with assimp support.
The actual logic of the tool is contained in a function that can operate directly on
iDynTree::Modelinstances that is callediDynTree::approximateSolidShapesWithPrimitiveShapeand is contained in theiDynTree::idyntree-solid-shapestarget. In this way, the same logic of the command line tool can be used also programatically in C++, MATLAB or Python (SWIG bindings).