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[robot]: deep copy shapes when cloning #158

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merged 6 commits into from
Dec 16, 2021
Merged

[robot]: deep copy shapes when cloning #158

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1bcf813
[robot]: deep copy meshes when cloning
costashatz Oct 8, 2021
6336d48
[robot]: deep copy only if available
costashatz Oct 8, 2021
166176c
[robot]: fix clone of shapes
costashatz Oct 21, 2021
1dcdc90
Merge remote-tracking branch 'origin' into deep_copy_shapes
costashatz Dec 16, 2021
d8698a8
[robot]: deep clone in correct DART version
costashatz Dec 16, 2021
2a8c544
[README]: installation minor [ci skip]
costashatz Dec 16, 2021
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4 changes: 2 additions & 2 deletions docs/installation.md
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Original file line number Diff line number Diff line change
Expand Up @@ -57,7 +57,7 @@ sudo apt-get install liburdfdom-dev liburdfdom-headers-dev
cd /path/to/tmp/folder
git clone git://github.com/dartsim/dart.git
cd dart
git checkout v6.10.1
git checkout v6.12.1

mkdir build
cd build
Expand All @@ -84,7 +84,7 @@ brew install urdfdom
cd /path/to/tmp/folder
git clone git://github.com/dartsim/dart.git
cd dart
git checkout v6.10.1
git checkout v6.12.1

mkdir build
cd build
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27 changes: 27 additions & 0 deletions src/robot_dart/robot.cpp
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Expand Up @@ -279,6 +279,20 @@ namespace robot_dart {
#endif
_skeleton->getMutex().unlock();
auto robot = std::make_shared<Robot>(tmp_skel, _robot_name);

#if DART_VERSION_AT_LEAST(6, 13, 0)
// Deep copy everything
for (auto& bd : robot->skeleton()->getBodyNodes()) {
auto& visual_shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();
for (auto& shape : visual_shapes) {
if (shape->getShape()->getType() != dart::dynamics::SoftMeshShape::getStaticType())
shape->setShape(shape->getShape()->clone());
}
}
#endif

robot->set_positions(this->positions());

robot->_model_filename = _model_filename;
robot->_controllers.clear();
for (auto& ctrl : _controllers) {
Expand Down Expand Up @@ -311,13 +325,26 @@ namespace robot_dart {
shape->removeAspect<dart::dynamics::CollisionAspect>();
}

// ghost robots do not have dynamics
auto& dyn_shapes = bd->getShapeNodesWith<dart::dynamics::DynamicsAspect>();
for (auto& shape : dyn_shapes) {
shape->removeAspect<dart::dynamics::DynamicsAspect>();
}

// ghost robots have a different color (same for all bodies)
auto& visual_shapes = bd->getShapeNodesWith<dart::dynamics::VisualAspect>();
for (auto& shape : visual_shapes) {
#if DART_VERSION_AT_LEAST(6, 13, 0)
if (shape->getShape()->getType() != dart::dynamics::SoftMeshShape::getStaticType())
shape->setShape(shape->getShape()->clone());
#endif
shape->getVisualAspect()->setRGBA(ghost_color);
}
}

// set positions
robot->set_positions(this->positions());

// ghost robots, by default, use the color from the VisualAspect
robot->set_color_mode("aspect");

Expand Down