Refactor Robot Model Factory #116
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jmirabel
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Jan 9, 2025
jmirabel
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Jan 9, 2025
Kotochleb
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Jan 9, 2025
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
for more information, see https://pre-commit.ci
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
for more information, see https://pre-commit.ci
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I let the XML comment for a future work, because i'm not sure how to load the collision model with XML #118 |
MaximilienNaveau
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Jan 10, 2025
Kotochleb
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Jan 10, 2025
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@MaximilienNaveau shouldn't this class be moved outside of the factory folder?
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
Co-authored-by: Krzysztof Wojciechowski <[email protected]>
for more information, see https://pre-commit.ci
Yes I believe it should. |
MaximilienNaveau
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Jan 11, 2025
MaximilienNaveau
merged commit 3d4f5dc
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agimus-project:topic/humble-devel/refactor
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Hello,
in this PR, the refactoring of the robot model factory. This has to be merged before the OCP class PR.
I ditched a lot of stuff to keep the essential: a robot wrapper with armature. Please, say if you need / want some other stuff in it.
I decided to get rid of the story of "complete' collision/visual models" because in my opinion it doesn't make much sense. Either it's mesh or simple convex shapes, but there is no reduction. If you're against, again, let's discuss it in the comments.
There is a function to directly parse the urdf and from sphere cylinder, obtain a collision model with capsules instead of sphere cylinder.
That's about it, it still needs unit testing, i'm working on it right now.