Rendering problems of URDF files using getCameraImage

[tdeprelle]

Hi everyone,

Does anyone know why some part of an urdf file don't show up when I do the rendering via getCameraImage ?

Here is my code :

Code: Select all

x = 640 
y = 480 

nearPlane = 0.1
farPlane = 10
fov = 110

p.connect(p.DIRECT)
p.loadURDF("room.urdf", [0,0,0])
        
viewMatrix = p.computeViewMatrix(positionCamera, orientationCamera, [0, 0, 1])
aspect = x / y;
projectionMatrix = p.computeProjectionMatrixFOV(fov, aspect, nearPlane, farPlane);

img_arr = p.getCameraImage(x, y, viewMatrix, projectionMatrix,[0,1,0])

While I'm moving the camera I'm using PILLOW to print the picture, I've tried matplotlib too and the result is the same...

I've linked billow some commented pictures to help you understand the problem.

Thanks for your help guys !