mikedh

robot-gltf

Summary

An effort to replace ROS packages describing a robot (a directory structure with URDF, SRDF, OBJ-MTL-STL-salad) with a single GLTF 2.0 GLB file including URDF and SRDF descriptions in the "extras" field of the GLTF header.

Proposed Robot-GLTF Format

• All geometry is put into a GLTF 2.0 .GLB file.
• Nodes in GLTF scene description are not used, but can be defined for visualization
• The URDF and SRDF descriptions are stored in the extras field of the GLTF header.
• Using the extras field keeps us completely compliant with the spec.

rejunity

# Recipe on running Unity (or any OpenGL based application) offscreen on your local Linux machine.
# Requirement: X server, NVIDIA drivers installed and working correctly.
# Tested on Ubuntu14.04.

# Summary: install XDummy and VirtualGL, configure virtual framebuffer, run your application via VirtualGL

# install XDummy
sudo apt-get update
sudo apt-get install xorg-video-abi-15 xserver-xorg-video-dummy