Merge pull request #158 from nim65s/devel

go1: fix inertia of fake camera links for pybullet
Gepetto · Feb 13, 2023 · 78f9117 · 78f9117
2 parents b00a6c7 + 80e428c
commit 78f9117
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Showing 2 changed files with 39 additions and 4 deletions.
diff --git a/robots/go1_description/urdf/go1.urdf b/robots/go1_description/urdf/go1.urdf
@@ -1344,6 +1344,11 @@
     <child link="camera_optical_face"/>
   </joint>
   <link name="camera_optical_face">
+    <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 reference="camera_face">
     <!-- <material>Gazebo/Black</material> -->
@@ -1418,6 +1423,11 @@
     <child link="camera_optical_chin"/>
   </joint>
   <link name="camera_optical_chin">
+    <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 reference="camera_chin">
     <!-- <material>Gazebo/Black</material> -->
@@ -1492,6 +1502,11 @@
     <child link="camera_optical_left"/>
   </joint>
   <link name="camera_optical_left">
+    <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 reference="camera_left">
     <!-- <material>Gazebo/Black</material> -->
@@ -1566,6 +1581,11 @@
     <child link="camera_optical_right"/>
   </joint>
   <link name="camera_optical_right">
+    <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 reference="camera_right">
     <!-- <material>Gazebo/Black</material> -->
@@ -1640,6 +1660,11 @@
     <child link="camera_optical_rearDown"/>
   </joint>
   <link name="camera_optical_rearDown">
+    <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 reference="camera_rearDown">
     <!-- <material>Gazebo/Black</material> -->
@@ -1690,13 +1715,23 @@
     <child link="camera_laserscan_link_left"/>
   </joint>
   <link name="camera_laserscan_link_left">
+    <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>
   <joint name="camera_laserscan_joint_right" type="fixed">
     <origin rpy="0 0.2618 0" xyz="0 0 0"/>
     <parent link="camera_right"/>
     <child link="camera_laserscan_link_right"/>
   </joint>
   <link name="camera_laserscan_link_right">
+    <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>
   <joint name="ultraSound_joint_left" type="fixed">
     <origin rpy="0 0.2618 1.5707963267948966" xyz="-0.0535  0.0826 0.00868"/>

diff --git a/unittest/test_load.py b/unittest/test_load.py
@@ -11,13 +11,13 @@
 
 
 class RobotTestCase(unittest.TestCase):
-    def check(self, name, expected_nq, expected_nv, one_kg_bodies=[], mass=True):
+    def check(self, name, expected_nq, expected_nv, one_kg_bodies=[]):
         """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 and mass:
+        if pybullet:
             self.check_pybullet(urdf, one_kg_bodies)
 
     def check_pybullet(self, urdf, one_kg_bodies):
@@ -96,10 +96,10 @@ def test_panda(self):
         self.check("panda", 9, 9)
 
     def test_allegro_right(self):
-        self.check("allegro_right_hand", 16, 16, mass=False)
+        self.check("allegro_right_hand", 16, 16)
 
     def test_allegro_left(self):
-        self.check("allegro_left_hand", 16, 16, mass=False)
+        self.check("allegro_left_hand", 16, 16)
 
     def test_romeo(self):
         self.check("romeo", 62, 61)