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enable to write STL collision: #229

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enable to write STL collision: #229

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enable to write STL collision:
k-okada Jun 11, 2020
a3022a3
Merge branch 'master' into enable_to_write_stl_collision
k-okada May 11, 2022
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20 changes: 12 additions & 8 deletions eusurdf/euslisp/eusmodel_to_urdf.l
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Original file line number Diff line number Diff line change
Expand Up @@ -19,15 +19,15 @@
(format f " </description>~%")
(format f "</model>~%")))

(defun eusmodelfile2urdf (fname outdir &key (tmpdir "/tmp/") collada-to-urdf-exe-path)
(defun eusmodelfile2urdf (fname outdir &rest args &key (tmpdir "/tmp/") &allow-other-keys)
(unless (probe-file fname)
(errorf "file ~A not exists" fname))
(load fname)
(let* ((model-name (string-join "-" (butlast (string-split (send (pathname fname) :name) #\-))))
(model (funcall (read-from-string model-name))))
(eusmodel2urdf model model-name outdir :tmpdir tmpdir :collada-to-urdf-exe-path collada-to-urdf-exe-path)))
(apply #'eusmodel2urdf model model-name outdir :tmpdir tmpdir args)))

(defun eusmodel2urdf (model model-name outdir &key (tmpdir "/tmp/") collada-to-urdf-exe-path)
(defun eusmodel2urdf (model model-name outdir &key (tmpdir "/tmp/") collada-to-urdf-exe-path use-stl)
(let ((urdf-out-path (send (concatenate-pathnames outdir "model.urdf") :namestring))
(mesh-out-dir (send (concatenate-pathnames outdir "meshes/") :namestring)))
(cond ((null (send model :name)) (send model :name model-name))
Expand All @@ -40,9 +40,10 @@
(t
(setq collada-to-urdf-exe-path "rosrun collada_urdf collada_to_urdf"))))

(unix:system (format nil "~A ~A -G -A --mesh_output_dir ~A --mesh_prefix \"model://~A/meshes\" -O ~A"
(unix:system (format nil "~A ~A -G ~A -A --mesh_output_dir ~A --mesh_prefix \"model://~A/meshes\" -O ~A"
collada-to-urdf-exe-path
(send (concatenate-pathnames tmpdir model-name ".dae") :namestring)
(if use-stl "--export_collision_mesh" "")
mesh-out-dir
model-name
urdf-out-path))
Expand All @@ -57,10 +58,13 @@
(when (string= "eusmodel_to_urdf"
(send (pathname (cadr lisp::*eustop-argument*)) :name))
;; eval-when :execute
(setq model-file-path (car (last (butlast (butlast lisp::*eustop-argument*)))))
(setq output-directory (car (last (butlast lisp::*eustop-argument*))))
(setq collada-to-urdf-exe-path (car (last lisp::*eustop-argument*)))
(setq model-file-path (elt lisp::*eustop-argument* 2))
(setq output-directory (elt lisp::*eustop-argument* 3))
(setq collada-to-urdf-exe-path (elt lisp::*eustop-argument* 4))
(setq use-stl nil)
(if (> (length lisp::*eustop-argument*) 5)
(setq use-stl (member "--use-stl" (subseq lisp::*eustop-argument* 5) :test #'string=)))
(format t "converting eus object ~A -> ~A~%" model-file-path output-directory)
(eusmodelfile2urdf model-file-path output-directory :collada-to-urdf-exe-path collada-to-urdf-exe-path)
(eusmodelfile2urdf model-file-path output-directory :collada-to-urdf-exe-path collada-to-urdf-exe-path :use-stl use-stl)
(exit))
(provide :eusmodel_to_urdf)