Add automatically generated names to all visual and collision solid shapes of the model.
This function creates a new iDynTree::Model that is identical to the input one, but that sets a valid name for all the visual and collision solid shapes of the model.
For links that already have at least either collision or visual with valid name, all the corresponding shapes (collision or visual) will not be modified.
For links in which all shapes of a given type that do not have a valid name, a name will be generated as the following:
If there is a single collision or visual element in the link, it will be named <linkName>_collision or <linkName>_visual
If there are multiple collision or visual elements in the link, the solid shapes will be <linkName>_collision_0, <linkName>_collision_1, ... <linkName>_collision_n or <linkName>_visual_0, <linkName>_visual_1, ... <linkName>_visual_n
traversaro
commented
3 months ago
Add a function that should help in https://github.com/robotology/idyntree/issues/1172 . We can then add a call to this function in
creo2urdfto help in consuming the model in mujoco.Documentation of the function:
Add automatically generated names to all visual and collision solid shapes of the model.
This function creates a new iDynTree::Model that is identical to the input one, but that sets a valid name for all the visual and collision solid shapes of the model.
For links that already have at least either collision or visual with valid name, all the corresponding shapes (collision or visual) will not be modified.
For links in which all shapes of a given type that do not have a valid name, a name will be generated as the following:
<linkName>_collisionor<linkName>_visual<linkName>_collision_0,<linkName>_collision_1, ...<linkName>_collision_nor<linkName>_visual_0,<linkName>_visual_1, ...<linkName>_visual_n