Skip to content

Degraded models and degradation script update #212

New issue

Have a question about this project? Sign up for a free GitHub account to open an issue and contact its maintainers and the community.

Sign up for GitHub

By clicking “Sign up for GitHub”, you agree to our terms of service and privacy statement. We’ll occasionally send you account related emails.

Already on GitHub? Sign in to your account

Merged
mabelzhang merged 7 commits into from
Feb 22, 2022
Merged

Degraded models and degradation script update #212

Show file tree
Hide file tree
Changes from all commits
Commits
Show all changes
7 commits
Select commit Hold shift + click to select a range
e92bd94
Set VERT_RAND_MAX relative to object size
mabelzhang Feb 18, 2022
1430b44
distorted shipwreck model and world
mabelzhang Feb 19, 2022
8285bcc
change VERT_RAND_MAX
mabelzhang Feb 19, 2022
a3d2638
remove unneeded model files, using upstream ones
mabelzhang Feb 19, 2022
2866e3f
distorted Sunken Vase
mabelzhang Feb 19, 2022
2ca0793
remove shipwreck world and launch file - moving to nps_uw_multibeam_s…
mabelzhang Feb 19, 2022
9fe542d
minor typo fixes
woensug-choi Feb 21, 2022
File filter

Filter by extension

Filter by extension
Conversations
Failed to load comments.
Loading
Jump to
Jump to file
Failed to load files.
Loading
Diff view
Diff view
3 changes: 1 addition & 2 deletions examples/dave_demo_launch/launch/dave_demo.launch
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -8,7 +8,7 @@
<arg name="timeout" default="0.0"/>
<arg name="velocity_control" default="true"/>
<arg name="joy_id" default="0"/>

<!-- use Gazebo's empty_world.launch with dave_ocean_waves.world -->
<include file="$(find gazebo_ros)/launch/empty_world.launch">
<arg name="world_name" value="$(arg world_name)"/>
Expand Down Expand Up @@ -85,7 +85,6 @@
<arg name="model_name" value="rexrov"/>
<arg name="joy_id" value="$(arg joy_id)"/>
</include>


<!-- joint control for oberon7 -->
<include file="$(find oberon7_control)/launch/joint_control.launch">
Expand Down
104 changes: 104 additions & 0 deletions models/dave_object_models/models/sunken_ship_distorted/meshes/sunkenship_distort.dae
View file
Open in desktop

Large diffs are not rendered by default.

15 changes: 15 additions & 0 deletions models/dave_object_models/models/sunken_ship_distorted/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0"?>

<model>
<name>SunkenShip</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
<email>cole@openrobotics.org</email>
</author>

<description>
</description>
</model>
48 changes: 48 additions & 0 deletions models/dave_object_models/models/sunken_ship_distorted/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,48 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="sunkenship_distorted">
<static>true</static>
<link name="base_link">
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
<uri>model://sunken_ship_distorted/meshes/sunkenship_distort.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="SunkenShip_distorted_visual">
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/meshes/sunkenship.dae</uri-->
<uri>model://sunken_ship_distorted/meshes/sunkenship_distort.dae</uri>
<submesh>
<name>SunkenShip</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Normal.png</normal_map>
<metalness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Metalness.png</metalness_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/SunkenShip_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken ship/2/files/materials/textures/</uri>
<name>UrbanTile/SunkenShip</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
104 changes: 104 additions & 0 deletions models/dave_object_models/models/sunken_vase_distorted/meshes/Pot01_distort.dae
View file
Open in desktop

Large diffs are not rendered by default.

15 changes: 15 additions & 0 deletions models/dave_object_models/models/sunken_vase_distorted/model.config
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,15 @@
<?xml version="1.0"?>

<model>
<name>Vase</name>
<version>1.0</version>
<sdf version="1.6">model.sdf</sdf>

<author>
<name>Cole Biesemeyer</name>
<email>cole@openrobotics.org</email>
</author>

<description>
</description>
</model>
56 changes: 56 additions & 0 deletions models/dave_object_models/models/sunken_vase_distorted/model.sdf
View file
Open in desktop
Original file line number Diff line number Diff line change
@@ -0,0 +1,56 @@
<?xml version="1.0"?>
<sdf version="1.6">
<model name="Pot01_distorted">
<static>false</static>
<link name="base_link">
<inertial>
<pose>0.000000 0.00014473 0.28908009</pose>
<mass>0.047262</mass>
<inertia>
<ixx>0.002228</ixx>
<iyy>0.002315</iyy>
<izz>0.002557</izz>
</inertia>
</inertial>
<collision name="collision">
<pose>0 0 0 0 0 0</pose>
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
<uri>model://sunken_vase_distorted/meshes/Pot01_distort.dae</uri>
<scale>1.0 1.0 1.0</scale>
</mesh>
</geometry>
</collision>
<visual name="Pot01_distorted_visual">
<geometry>
<mesh>
<!--uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/meshes/Pot01.dae</uri-->
<uri>model://sunken_vase_distorted/meshes/Pot01_distort.dae</uri>
<submesh>
<name>Pot01</name>
<center>false</center>
</submesh>
</mesh>
</geometry>
<material>
<diffuse>1.0 1.0 1.0</diffuse>
<specular>1.0 1.0 1.0</specular>
<pbr>
<metal>
<albedo_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Albedo.png</albedo_map>
<normal_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Normal.png</normal_map>
<roughness_map>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/Pot01_Roughness.png</roughness_map>
</metal>
</pbr>
<!-- fallback to script if no PBR support-->
<script>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/scripts/</uri>
<uri>https://fuel.ignitionrobotics.org/1.0/cole/models/sunken vase/3/files/materials/textures/</uri>
<name>UrbanTile/Pot01_Diffuse</name>
</script>
</material>
</visual>
</link>
</model>
</sdf>
10 changes: 8 additions & 2 deletions urdf/scripts/mesh_distortion/distort.py
View file
Open in desktop
Original file line number Diff line number Diff line change
Expand Up @@ -3,7 +3,8 @@
# In Blender, perform mesh modifications.
#
# Usage:
# This script is to be run from within the Blender GUI. Tested in Blender 2.9.2.
# This script is to be run from within the Blender GUI. Tested in Blender
# 2.92.
# distort.py <file_path> <object_prefix> [distort_extent] [method]
#
# Example:
Expand All @@ -21,6 +22,8 @@
import os
import sys

import numpy as np


def find_target_object(object_prefix):

Expand Down Expand Up @@ -179,6 +182,7 @@ def distort(file_path, object_prefix, distort_extent, method):
if step == 'subdiv_mod':
# Figure out levels magnitude
SUBDIV_LVL_MIN = 0
# This might need tuning
SUBDIV_LVL_MAX = 4
# Must be integer
subdiv_lvl = round(SUBDIV_LVL_MIN + (
Expand All @@ -189,7 +193,9 @@ def distort(file_path, object_prefix, distort_extent, method):
elif step == 'vert_rand':
# Meters
VERT_RAND_MIN = 0
VERT_RAND_MAX = 0.02
# Set max in terms of object dimensions. This might need tuning.
VERT_RAND_MAX = 10 * np.max(target_obj.dimensions)

# Figure out offset magnitude
vert_rand_amt = VERT_RAND_MIN + (
(VERT_RAND_MAX - VERT_RAND_MIN) * distort_extent)
Expand Down