Add obj version of meshes

YinjieLin · Apr 13, 2020 · a902f72 · a902f72
1 parent 21c8dc9
commit a902f72
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Showing 7 changed files with 93 additions and 35 deletions.
diff --git a/manipulation/models/franka_description/BUILD.bazel b/manipulation/models/franka_description/BUILD.bazel
@@ -6,11 +6,27 @@ load(
 )
 load("//tools/install:install_data.bzl", "install_data")
 load("//tools/lint:lint.bzl", "add_lint_tests")
+load("@drake//tools/workspace:forward_files.bzl", "forward_files")
+load("//tools/workspace/models:files.bzl", "franka_description_mesh_files")
 
+# This package is public so that other packages can refer to
+# individual files in model from their bazel rules.
 package(
-    default_visibility = [":__subpackages__"],
+    default_visibility = ["//visibility:public"],
 )
 
+_FRANKA_DESCRIPTION_MESHES = forward_files(
+    srcs = ["@models//:" + x for x in franka_description_mesh_files()],
+    dest_prefix = "",
+    strip_prefix = "@models//:franka_description/",
+    visibility = ["//visibility:private"],
+)
+
+install_data(
+    extra_prod_models = _FRANKA_DESCRIPTION_MESHES + [
+        "LICENSE.TXT",
+    ],
+)
 # === test/ ===
 
 drake_cc_googletest(
@@ -24,10 +40,4 @@ drake_cc_googletest(
     ],
 )
 
-install_data(
-    extra_prod_models = [
-        "LICENSE.TXT",
-    ],
-)
-
 add_lint_tests()
diff --git a/manipulation/models/franka_description/urdf/hand.urdf b/manipulation/models/franka_description/urdf/hand.urdf
@@ -6,8 +6,9 @@
 <robot name="hand">
   <link name="panda_hand">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/hand.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -49,16 +50,17 @@
   </link>
   <link name="panda_leftfinger">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/finger.obj"/>
       </geometry>
     </visual>
   </link>
   <link name="panda_rightfinger">
     <visual>
-      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/finger.obj"/>
       </geometry>
     </visual>
   </link>

diff --git a/manipulation/models/franka_description/urdf/panda_arm.urdf b/manipulation/models/franka_description/urdf/panda_arm.urdf
@@ -6,8 +6,9 @@
 <robot name="panda">
   <link name="panda_link0">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link0.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -31,8 +32,9 @@
   </link>
   <link name="panda_link1">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link1.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -64,8 +66,9 @@
   </joint>
   <link name="panda_link2">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link2.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -97,8 +100,9 @@
   </joint>
   <link name="panda_link3">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link3.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -130,8 +134,9 @@
   </joint>
   <link name="panda_link4">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link4.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -163,8 +168,9 @@
   </joint>
   <link name="panda_link5">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link5.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -214,8 +220,9 @@
   </joint>
   <link name="panda_link6">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link6.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -247,8 +254,9 @@
   </joint>
   <link name="panda_link7">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link7.obj"/>
       </geometry>
     </visual>
     <collision>

diff --git a/manipulation/models/franka_description/urdf/panda_arm_hand.urdf b/manipulation/models/franka_description/urdf/panda_arm_hand.urdf
@@ -6,8 +6,9 @@
 <robot name="panda">
   <link name="panda_link0">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link0.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link0.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -31,8 +32,9 @@
   </link>
   <link name="panda_link1">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link1.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link1.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -64,8 +66,9 @@
   </joint>
   <link name="panda_link2">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link2.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link2.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -97,8 +100,9 @@
   </joint>
   <link name="panda_link3">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link3.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link3.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -130,8 +134,9 @@
   </joint>
   <link name="panda_link4">
     <visual>
-      <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link4.dae"/>
+      <origin rpy="1.57079632679 0 0"/>
+     <geometry>
+        <mesh filename="package://franka_description/meshes/visual/link4.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -163,8 +168,9 @@
   </joint>
   <link name="panda_link5">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link5.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link5.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -214,8 +220,9 @@
   </joint>
   <link name="panda_link6">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link6.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link6.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -247,8 +254,9 @@
   </joint>
   <link name="panda_link7">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/link7.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/link7.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -380,8 +388,9 @@
   </transmission>
   <link name="panda_hand">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/hand.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/hand.obj"/>
       </geometry>
     </visual>
     <collision>
@@ -423,16 +432,17 @@
   </link>
   <link name="panda_leftfinger">
     <visual>
+      <origin rpy="1.57079632679 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/finger.obj"/>
       </geometry>
     </visual>
   </link>
   <link name="panda_rightfinger">
     <visual>
-      <origin rpy="0 0 3.14159265359" xyz="0 0 0"/>
+      <origin rpy="1.57079632679 0 3.14159265359" xyz="0 0 0"/>
       <geometry>
-        <mesh filename="package://franka_description/meshes/visual/finger.dae"/>
+        <mesh filename="package://franka_description/meshes/visual/finger.obj"/>
       </geometry>
     </visual>
   </link>

diff --git a/tools/workspace/models/files.bzl b/tools/workspace/models/files.bzl
@@ -30,3 +30,28 @@ def ycb_mesh_files():
         "ycb/meshes/010_potted_meat_can_textured.png",
         "ycb/meshes/LICENSE.txt",
     ]
+
+def franka_description_mesh_files():
+    return [
+        "franka_description/LICENSE",
+        "franka_description/meshes/visual/finger.mtl",
+        "franka_description/meshes/visual/finger.obj",
+        "franka_description/meshes/visual/hand.mtl",
+        "franka_description/meshes/visual/hand.obj",
+        "franka_description/meshes/visual/link0.mtl",
+        "franka_description/meshes/visual/link0.obj",
+        "franka_description/meshes/visual/link1.mtl",
+        "franka_description/meshes/visual/link1.obj",
+        "franka_description/meshes/visual/link2.mtl",
+        "franka_description/meshes/visual/link2.obj",
+        "franka_description/meshes/visual/link3.mtl",
+        "franka_description/meshes/visual/link3.obj",
+        "franka_description/meshes/visual/link4.mtl",
+        "franka_description/meshes/visual/link4.obj",
+        "franka_description/meshes/visual/link5.mtl",
+        "franka_description/meshes/visual/link5.obj",
+        "franka_description/meshes/visual/link6.mtl",
+        "franka_description/meshes/visual/link6.obj",
+        "franka_description/meshes/visual/link7.mtl",
+        "franka_description/meshes/visual/link7.obj",
+    ]
diff --git a/tools/workspace/models/package.BUILD.bazel b/tools/workspace/models/package.BUILD.bazel
@@ -1,6 +1,9 @@
 package(default_visibility = ["//visibility:private"])
 
 exports_files(
-    srcs = glob(["ycb/meshes/*"]) or fail("No match"),
+    srcs = glob([
+        "ycb/meshes/**",
+        "franka_description/**",
+    ]) or fail("No match"),
     visibility = ["//visibility:public"],
 )
diff --git a/tools/workspace/models/repository.bzl b/tools/workspace/models/repository.bzl
@@ -8,8 +8,8 @@ def models_repository(
     github_archive(
         name = name,
         repository = "RobotLocomotion/models",
-        commit = "456a2df373c4a7afeaebcd269efb9f6e86ec5579",
-        sha256 = "708a1689a1911fdf0d79776cc238ac23618ce6b9eb8c4b49bd740909db82cff6",  # noqa
+        commit = "3a4627b5207de76c2f86a13f522da87cac882730",
+        sha256 = "c6d02c310a47922ac5b4f9ddbe6a800e13cd8e37b534c73bc5e1b216261d36ba",  # noqa
         build_file = "@drake//tools/workspace/models:package.BUILD.bazel",
         mirrors = mirrors,
     )