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tutorials:advanced:cram-meshes [2022/03/30 14:29] – vanessa | tutorials:advanced:cram-meshes [2022/05/09 09:59] (current) – [Add the mesh to CRAM] vanessa | ||
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====== Prepare the 3D mesh====== | ====== Prepare the 3D mesh====== | ||
- | Open your mesh in Blender or any other Software of your wishes. | + | There are a few things to watch out for when adding a 3d mesh to the bullet world. |
+ | In order to take into account scaling, rotation and file type, it is recommended to first open the object | ||
+ | Now look at the rotation and consider the Right-Handed 3D Coordinate Frame we are working in. The X-axis is mostly the long side and Z-axis goes up. Just rotate the object to your liking. | ||
+ | {{ : | ||
- | + | After the rotation | |
- | {{: | + | {{ : |
- | + | To apply your changes on the object hit ctrl+A | |
- | {{: | + | Now save the object |
- | + | ||
- | {{: | + | |
- | check scaling factor = 1.0 and apply rotation and scaling | + | |
====== Add the mesh to CRAM====== | ====== Add the mesh to CRAM====== | ||
- | Export as stl and save it either in your demo resource folder or: ~/YOUWS/ | + | Export as stl and save it either in your demo resource folder or: ~/YOUR_CRAM_WS/ |
- | Add your object here for coloring: | + | To add some coloring on the object |
- | ./ | + | |
;; Colors for different object types the same for all scenarios. | ;; Colors for different object types the same for all scenarios. | ||
- | (<- (%scenario-object-color : | ||
- | (<- (%scenario-object-color :fork (0.2 0.1 0.3))) | ||
- | (<- (%scenario-object-color : | ||
(<- (%scenario-object-color : | (<- (%scenario-object-color : | ||
| | ||
- | Add your object here, so the system can use the correct stl file for the keyword: | + | Add your object here, so the system can use the correct stl file for the keyword |
./ | ./ | ||
- | (defparameter *mesh-files* | + | |
- | '( | + | '( |
- | | + | |
- | | + | |
- | | + | |
| | ||
Add your object here for the costmap metadata: | Add your object here for the costmap metadata: | ||
Line 39: | Line 35: | ||
| | ||
Add your object here for the abstract item-shape: | Add your object here for the abstract item-shape: | ||
- | world/ | + | world/ |
(<- (%item-type-shape :big-knife : | (<- (%item-type-shape :big-knife : | ||
Line 45: | Line 41: | ||
Add your object here for the padding size: | Add your object here for the padding size: | ||
- | ./ | + | ./ |
(<- (object-type-padding-size :big-knife 0.005d0)) | (<- (object-type-padding-size :big-knife 0.005d0)) | ||
| | ||
- | ====== | + | ======How to use the mesh====== |
Now you are able to spawn your object by: | Now you are able to spawn your object by: | ||
(btr-utils: | (btr-utils: |