diff --git a/robots/anymal_c_simple_description/urdf/anymal.urdf b/robots/anymal_c_simple_description/urdf/anymal.urdf
index 0d12c9878a7769b44fbb4becd2f39e4a56e3f6dc..0bcf135012a739c1ff7b02b84af9ef714e890df5 100644
--- a/robots/anymal_c_simple_description/urdf/anymal.urdf
+++ b/robots/anymal_c_simple_description/urdf/anymal.urdf
@@ -211,7 +211,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_front_camera_parent"/>
+ <link name="depth_camera_front_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_front_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
@@ -219,7 +225,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_front_depth_optical_frame"/>
+ <link name="depth_camera_front_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_front_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_front_camera_parent"/>
@@ -227,7 +239,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_front_color_frame"/>
+ <link name="depth_camera_front_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_front_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_front_color_frame"/>
@@ -235,7 +253,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_front_color_optical_frame"/>
+ <link name="depth_camera_front_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_front_to_wide_angle_camera_front_camera" type="fixed">
@@ -264,7 +288,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="wide_angle_camera_front_camera_parent"/>
+ <link name="wide_angle_camera_front_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Fixed joint base face -->
<joint name="base_face_rear" type="fixed">
<parent link="base"/>
@@ -332,7 +362,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_rear_camera_parent"/>
+ <link name="depth_camera_rear_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_rear_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
@@ -340,7 +376,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_rear_depth_optical_frame"/>
+ <link name="depth_camera_rear_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_rear_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_rear_camera_parent"/>
@@ -348,7 +390,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_rear_color_frame"/>
+ <link name="depth_camera_rear_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_rear_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_rear_color_frame"/>
@@ -356,7 +404,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_rear_color_optical_frame"/>
+ <link name="depth_camera_rear_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera joint -->
<!-- Is located in the center of the mounting points. -->
<joint name="face_rear_to_wide_angle_camera_rear_camera" type="fixed">
@@ -385,7 +439,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="wide_angle_camera_rear_camera_parent"/>
+ <link name="wide_angle_camera_rear_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Fixed joint base battery -->
<joint name="base_battery" type="fixed">
<parent link="base"/>
@@ -475,7 +535,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_left_camera_parent"/>
+ <link name="depth_camera_left_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_left_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
@@ -483,7 +549,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_left_depth_optical_frame"/>
+ <link name="depth_camera_left_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_left_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_left_camera_parent"/>
@@ -491,7 +563,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_left_color_frame"/>
+ <link name="depth_camera_left_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_left_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_left_color_frame"/>
@@ -499,7 +577,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_left_color_optical_frame"/>
+ <link name="depth_camera_left_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera joint -->
<!-- Is located between the two back screw holes at ground level. -->
<joint name="base_to_depth_camera_right_camera" type="fixed">
@@ -529,7 +613,13 @@
<origin rpy="0.0 0.0 0.0" xyz="0.0255 0.0175 0.0"/>
</joint>
<!-- Camera parent link -->
- <link name="depth_camera_right_camera_parent"/>
+ <link name="depth_camera_right_camera_parent">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Depth optical frame joint -->
<joint name="depth_camera_right_camera_parent_to_depth_optical_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
@@ -537,7 +627,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Depth optical frame link -->
- <link name="depth_camera_right_depth_optical_frame"/>
+ <link name="depth_camera_right_depth_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color frame joint -->
<joint name="depth_camera_right_camera_parent_to_color_frame" type="fixed">
<parent link="depth_camera_right_camera_parent"/>
@@ -545,7 +641,13 @@
<origin rpy="0 0 0" xyz="0 0.015 0"/>
</joint>
<!-- Camera color frame link -->
- <link name="depth_camera_right_color_frame"/>
+ <link name="depth_camera_right_color_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- Camera color optical joint -->
<joint name="depth_camera_right_color_frame_to_color_optical_frame" type="fixed">
<parent link="depth_camera_right_color_frame"/>
@@ -553,7 +655,13 @@
<origin rpy="-1.57079632679 0.0 -1.57079632679" xyz="0.0 0.0 0.0"/>
</joint>
<!-- Camera color optical link -->
- <link name="depth_camera_right_color_optical_frame"/>
+ <link name="depth_camera_right_color_optical_frame">
+ <inertial>
+ <origin rpy="0 0 0" xyz="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
+ </inertial>
+ </link>
<!-- parent to cage joint, located between mounting plate on trunk and the cage -->
<joint name="base_to_lidar_cage" type="fixed">
<parent link="base"/>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 4f417b1205841452d3d0b7bd2bdc8c1ea5704ccd..a4ac2d751bd85cb01fec982dd93782b0bf6a30db 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -11,13 +11,13 @@ from example_robot_data import load_full
class RobotTestCase(unittest.TestCase):
- def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
+ def check(self, name, expected_nq, expected_nv, one_kg_bodies=[], mass=True):
"""Helper function for the real tests"""
robot, _, urdf, _ = load_full(name, display=False)
self.assertEqual(robot.model.nq, expected_nq)
self.assertEqual(robot.model.nv, expected_nv)
self.assertTrue(hasattr(robot, "q0"))
- if pybullet:
+ if pybullet and mass:
self.check_pybullet(urdf, one_kg_bodies)
def check_pybullet(self, urdf, one_kg_bodies):
@@ -90,10 +90,10 @@ class RobotTestCase(unittest.TestCase):
self.check("panda", 9, 9)
def test_allegro_right(self):
- self.check("allegro_right_hand", 16, 16)
+ self.check("allegro_right_hand", 16, 16, mass=False)
def test_allegro_left(self):
- self.check("allegro_left_hand", 16, 16)
+ self.check("allegro_left_hand", 16, 16, mass=False)
def test_romeo(self):
self.check("romeo", 62, 61)