From c5f619511fced2be27843488e3fe9cdce4ea6e23 Mon Sep 17 00:00:00 2001
From: Guilhem Saurel <guilhem.saurel@laas.fr>
Date: Fri, 18 Feb 2022 11:54:46 +0100
Subject: [PATCH] fix pybullet for asr
---
.../asr_twodof_description/urdf/TwoDofs.urdf | 53 ++++++++++---------
unittest/test_load.py | 2 +-
2 files changed, 30 insertions(+), 25 deletions(-)
diff --git a/robots/asr_twodof_description/urdf/TwoDofs.urdf b/robots/asr_twodof_description/urdf/TwoDofs.urdf
index ff3af0a..5f188d1 100755
--- a/robots/asr_twodof_description/urdf/TwoDofs.urdf
+++ b/robots/asr_twodof_description/urdf/TwoDofs.urdf
@@ -1,11 +1,11 @@
<?xml version="1.0"?>
<robot name="twodofs">
- <!-- # Base and support -->
+ <!-- # Base and support -->
<link name="world">
- </link>
+ </link>
<joint name="ground_fixed" type="fixed">
- <origin xyz="0 0 0" rpy="0 0 -1.57"/>
+ <origin xyz="0 0 0" rpy="0 0 -1.57"/>
<parent link="world"/>
<child link="ground"/>
<axis xyz="0 0 0"/>
@@ -20,22 +20,22 @@
<origin xyz="-0.1 -0.04 0" rpy="1.57 0 1.57"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/meshes/twodofs/dae/Base2Dof_4040_m.dae"/>
- </geometry>
+ </geometry>
</visual>
<visual>
<origin xyz="0 0.011 0.18" rpy="-1.57 -1.57 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qb_base_flange_m.dae" />
- </geometry>
- </visual>
+ </geometry>
+ </visual>
<visual>
<origin xyz="0 0.044 0.1470" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae" />
- </geometry>
+ </geometry>
</visual>
</link>
-
+
<!-- # First -->
<joint name="J1" type="revolute">
<origin xyz="0 0.044 0.18" rpy="0 0 0"/>
@@ -44,27 +44,27 @@
<limit effort="30" velocity="1.0" lower="-3.14" upper="3.14" />
<axis xyz="0 0 1"/>
</joint>
-
- <link name="Link1">
+
+ <link name="Link1">
<inertial>
<origin xyz="0 0.085 0" rpy="0 0 0"/>
<mass value="0.55"/>
<inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0"/>
- </inertial>
+ </inertial>
<visual>
<origin xyz="0 0.056 0" rpy="0 -1.57 -1.57"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qb_c_flange_m.dae" />
- </geometry>
+ </geometry>
</visual>
<visual>
<origin xyz="0 0.089 -0.033" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae" />
- </geometry>
+ </geometry>
</visual>
- </link>
-
+ </link>
+
<!-- # Second -->
<joint name="J2" type="revolute">
<origin xyz="0 0.089 0" rpy="0 0 0"/>
@@ -73,26 +73,26 @@
<limit effort="30" velocity="1.0" lower="-3.14" upper="3.14" />
<axis xyz="0 0 1"/>
</joint>
-
- <link name="Link2">
+
+ <link name="Link2">
<inertial>
<origin xyz="0 0.085 0" rpy="0 0 0"/>
<mass value="0.55"/>
<inertia ixx="0.001" iyy="0.001" izz="0.001" ixy="0" ixz="0" iyz="0"/>
- </inertial>
+ </inertial>
<visual>
<origin xyz="0 0.056 0" rpy="0 -1.57 -1.57"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qb_c_flange_m.dae" />
- </geometry>
+ </geometry>
</visual>
<visual>
<origin xyz="0 0.089 -0.033" rpy="0 0 0"/>
<geometry>
<mesh filename="package://example-robot-data/robots/asr_twodof_description/qb_meshes/dae/qbmove_frame_m.dae" />
- </geometry>
+ </geometry>
</visual>
- </link>
+ </link>
<!-- # End effector -->
<joint name="EE" type="fixed">
@@ -101,9 +101,14 @@
<child link="Tip"/>
<axis xyz="0 0 1"/>
</joint>
- <link name="Tip">
- </link>
-
+ <link name="Tip">
+ <inertial>
+ <origin xyz="0 0 0" rpy="0 0 0"/>
+ <mass value="0"/>
+ <inertia ixx="0" iyy="0" izz="0" ixy="0" ixz="0" iyz="0"/>
+ </inertial>
+ </link>
+
<gazebo>
<self_collide>1</self_collide>
</gazebo>
diff --git a/unittest/test_load.py b/unittest/test_load.py
index 64cebf8..f01bdd8 100755
--- a/unittest/test_load.py
+++ b/unittest/test_load.py
@@ -58,7 +58,7 @@ class RobotTestCase(unittest.TestCase):
self.check('double_pendulum_continuous', 4, 2)
def test_asr(self):
- self.check('asr_twodof', 2, 2)
+ self.check('asr_twodof', 2, 2, one_kg_bodies=['ground'])
def test_hector(self):
self.check('hector', 7, 6)
--
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