Merge pull request #1969 from erwincoumans/master
PyBullet: call the right method internally, also rudimentary MuJoCo xml to PyBullet/ROS URDF converter.
This commit is contained in:
erwincoumans
GitHub
586
data/humanoid.urdf
Normal file
586
data/humanoid.urdf
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<link name="link1_31">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<mass value="0.00000"/>
|
||||||
|
<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="left_upper_arm">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.08000 0.08000 -0.08000"/>
|
||||||
|
<mass value="1.66108"/>
|
||||||
|
<inertia ixx="0.02368" ixy="0" ixz="0" iyy="0.02368" iyz="0" izz="0.02267"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="-2.35619 0.61548 -1.30900" xyz="0.08000 0.08000 -0.08000"/>
|
||||||
|
<geometry>
|
||||||
|
<capsule length="0.27713" radius="0.04000"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<link name="link1_33">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<mass value="0.00000"/>
|
||||||
|
<inertia ixx="0.00000" ixy="0" ixz="0" iyy="0.00000" iyz="0" izz="0.00000"/>
|
||||||
|
</inertial>
|
||||||
|
</link>
|
||||||
|
<link name="left_lower_arm">
|
||||||
|
<inertial>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<mass value="1.22954"/>
|
||||||
|
<inertia ixx="0.01419" ixy="0" ixz="0" iyy="0.01419" iyz="0" izz="0.01374"/>
|
||||||
|
</inertial>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0.78540 0.61548 0.26180" xyz="0.09000 -0.09000 0.09000"/>
|
||||||
|
<geometry>
|
||||||
|
<capsule length="0.27713" radius="0.03100"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
<collision>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 0.18000"/>
|
||||||
|
<geometry>
|
||||||
|
<sphere radius="0.04000"/>
|
||||||
|
</geometry>
|
||||||
|
</collision>
|
||||||
|
</link>
|
||||||
|
<joint name="abdomen_z" type="continuous">
|
||||||
|
<parent link="torso"/>
|
||||||
|
<child link="link1_2"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00400 0.00000" xyz="-0.01026 0.00000 -0.19500"/>
|
||||||
|
<axis xyz="0.00000 0.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="abdomen_y" type="continuous">
|
||||||
|
<parent link="link1_2"/>
|
||||||
|
<child link="link1_3"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_7_3" type="fixed">
|
||||||
|
<parent link="link1_3"/>
|
||||||
|
<child link="lwaist"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.06500"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="abdomen_x" type="continuous">
|
||||||
|
<parent link="lwaist"/>
|
||||||
|
<child link="link1_5"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00400 0.00000" xyz="-0.00040 0.00000 -0.06500"/>
|
||||||
|
<axis xyz="1.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_6_5" type="fixed">
|
||||||
|
<parent link="link1_5"/>
|
||||||
|
<child link="pelvis"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.10000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_hip_x" type="continuous">
|
||||||
|
<parent link="pelvis"/>
|
||||||
|
<child link="link1_7"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.10000 -0.04000"/>
|
||||||
|
<axis xyz="1.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_hip_z" type="continuous">
|
||||||
|
<parent link="link1_7"/>
|
||||||
|
<child link="link1_8"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_hip_y" type="continuous">
|
||||||
|
<parent link="link1_8"/>
|
||||||
|
<child link="link1_9"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_2_9" type="fixed">
|
||||||
|
<parent link="link1_9"/>
|
||||||
|
<child link="right_thigh"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_knee" type="continuous">
|
||||||
|
<parent link="right_thigh"/>
|
||||||
|
<child link="link1_11"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.01000 -0.38300"/>
|
||||||
|
<axis xyz="0.00000 -1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_1_11" type="fixed">
|
||||||
|
<parent link="link1_11"/>
|
||||||
|
<child link="right_shin"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_ankle_y" type="continuous">
|
||||||
|
<parent link="right_shin"/>
|
||||||
|
<child link="link1_13"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
|
||||||
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_ankle_x" type="continuous">
|
||||||
|
<parent link="link1_13"/>
|
||||||
|
<child link="link1_14"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
|
||||||
|
<axis xyz="1.00000 0.00000 0.50000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_0_14" type="fixed">
|
||||||
|
<parent link="link1_14"/>
|
||||||
|
<child link="right_foot"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.08000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_hip_x" type="continuous">
|
||||||
|
<parent link="pelvis"/>
|
||||||
|
<child link="link1_16"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.10000 -0.04000"/>
|
||||||
|
<axis xyz="-1.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_hip_z" type="continuous">
|
||||||
|
<parent link="link1_16"/>
|
||||||
|
<child link="link1_17"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 -1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_hip_y" type="continuous">
|
||||||
|
<parent link="link1_17"/>
|
||||||
|
<child link="link1_18"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_5_18" type="fixed">
|
||||||
|
<parent link="link1_18"/>
|
||||||
|
<child link="left_thigh"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_knee" type="continuous">
|
||||||
|
<parent link="left_thigh"/>
|
||||||
|
<child link="link1_20"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.01000 -0.38300"/>
|
||||||
|
<axis xyz="0.00000 -1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_4_20" type="fixed">
|
||||||
|
<parent link="link1_20"/>
|
||||||
|
<child link="left_shin"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.02000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_ankle_y" type="continuous">
|
||||||
|
<parent link="left_shin"/>
|
||||||
|
<child link="link1_22"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.31000"/>
|
||||||
|
<axis xyz="0.00000 1.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_ankle_x" type="continuous">
|
||||||
|
<parent link="link1_22"/>
|
||||||
|
<child link="link1_23"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.04000"/>
|
||||||
|
<axis xyz="1.00000 0.00000 0.50000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_3_23" type="fixed">
|
||||||
|
<parent link="link1_23"/>
|
||||||
|
<child link="left_foot"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 -0.08000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_shoulder1" type="continuous">
|
||||||
|
<parent link="torso"/>
|
||||||
|
<child link="link1_25"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 -0.17000 0.06000"/>
|
||||||
|
<axis xyz="2.00000 1.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_shoulder2" type="continuous">
|
||||||
|
<parent link="link1_25"/>
|
||||||
|
<child link="link1_26"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 -1.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_9_26" type="fixed">
|
||||||
|
<parent link="link1_26"/>
|
||||||
|
<child link="right_upper_arm"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="right_elbow" type="continuous">
|
||||||
|
<parent link="right_upper_arm"/>
|
||||||
|
<child link="link1_28"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 -0.18000 -0.18000"/>
|
||||||
|
<axis xyz="0.00000 -1.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_8_28" type="fixed">
|
||||||
|
<parent link="link1_28"/>
|
||||||
|
<child link="right_lower_arm"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_shoulder1" type="continuous">
|
||||||
|
<parent link="torso"/>
|
||||||
|
<child link="link1_30"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.17000 0.06000"/>
|
||||||
|
<axis xyz="2.00000 -1.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_shoulder2" type="continuous">
|
||||||
|
<parent link="link1_30"/>
|
||||||
|
<child link="link1_31"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 1.00000 1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_11_31" type="fixed">
|
||||||
|
<parent link="link1_31"/>
|
||||||
|
<child link="left_upper_arm"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="left_elbow" type="continuous">
|
||||||
|
<parent link="left_upper_arm"/>
|
||||||
|
<child link="link1_33"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.18000 0.18000 -0.18000"/>
|
||||||
|
<axis xyz="0.00000 -1.00000 -1.00000"/>
|
||||||
|
</joint>
|
||||||
|
<joint name="jointfix_10_33" type="fixed">
|
||||||
|
<parent link="link1_33"/>
|
||||||
|
<child link="left_lower_arm"/>
|
||||||
|
<dynamics damping="1.0" friction="0.0001"/>
|
||||||
|
<origin rpy="0.00000 -0.00000 0.00000" xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
<axis xyz="0.00000 0.00000 0.00000"/>
|
||||||
|
</joint>
|
||||||
|
</robot>
|
||||||
@@ -883,6 +883,15 @@ void BulletURDFImporter::convertURDFToVisualShapeInternal(const UrdfVisual* visu
|
|||||||
|
|
||||||
switch (visual->m_geometry.m_type)
|
switch (visual->m_geometry.m_type)
|
||||||
{
|
{
|
||||||
|
case URDF_GEOM_CAPSULE:
|
||||||
|
{
|
||||||
|
btScalar radius = visual->m_geometry.m_capsuleRadius;
|
||||||
|
btScalar height = visual->m_geometry.m_capsuleHeight;
|
||||||
|
btCapsuleShapeZ* capsuleShape = new btCapsuleShapeZ(radius, height);
|
||||||
|
convexColShape = capsuleShape;
|
||||||
|
convexColShape->setMargin(gUrdfDefaultCollisionMargin);
|
||||||
|
break;
|
||||||
|
}
|
||||||
case URDF_GEOM_CYLINDER:
|
case URDF_GEOM_CYLINDER:
|
||||||
{
|
{
|
||||||
btAlignedObjectArray<btVector3> vertices;
|
btAlignedObjectArray<btVector3> vertices;
|
||||||
|
|||||||
@@ -9642,6 +9642,16 @@ int PhysicsServerCommandProcessor::extractCollisionShapes(const btCollisionShape
|
|||||||
|
|
||||||
switch (colShape->getShapeType())
|
switch (colShape->getShapeType())
|
||||||
{
|
{
|
||||||
|
case STATIC_PLANE_PROXYTYPE:
|
||||||
|
{
|
||||||
|
btStaticPlaneShape* plane = (btStaticPlaneShape*) colShape;
|
||||||
|
collisionShapeBuffer[0].m_collisionGeometryType = GEOM_PLANE;
|
||||||
|
collisionShapeBuffer[0].m_dimensions[0] = plane->getPlaneNormal()[0];
|
||||||
|
collisionShapeBuffer[0].m_dimensions[1] = plane->getPlaneNormal()[1];
|
||||||
|
collisionShapeBuffer[0].m_dimensions[2] = plane->getPlaneNormal()[2];
|
||||||
|
numConverted += 1;
|
||||||
|
break;
|
||||||
|
}
|
||||||
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
case CONVEX_HULL_SHAPE_PROXYTYPE:
|
||||||
{
|
{
|
||||||
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
|
UrdfCollision* urdfCol = m_data->m_bulletCollisionShape2UrdfCollision.find(colShape);
|
||||||
|
|||||||
21
examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
Normal file
21
examples/pybullet/gym/pybullet_utils/examples/mjcf2urdf.py
Normal file
@@ -0,0 +1,21 @@
|
|||||||
|
#rudimentary MuJoCo mjcf to ROS URDF converter using the UrdfEditor
|
||||||
|
|
||||||
|
import pybullet_utils.bullet_client as bc
|
||||||
|
import pybullet_data as pd
|
||||||
|
|
||||||
|
import pybullet_utils.urdfEditor as ed
|
||||||
|
import argparse
|
||||||
|
parser = argparse.ArgumentParser(formatter_class=argparse.ArgumentDefaultsHelpFormatter)
|
||||||
|
parser.add_argument('--mjcf', help='MuJoCo xml file to be converted to URDF', default='mjcf/humanoid.xml')
|
||||||
|
args = parser.parse_args()
|
||||||
|
|
||||||
|
p = bc.BulletClient()
|
||||||
|
p.setAdditionalSearchPath(pd.getDataPath())
|
||||||
|
objs = p.loadMJCF(args.mjcf, flags=p.URDF_USE_IMPLICIT_CYLINDER)
|
||||||
|
|
||||||
|
for o in objs:
|
||||||
|
print("o=",o, p.getBodyInfo(o), p.getNumJoints(o))
|
||||||
|
humanoid = objs[o]
|
||||||
|
ed0 = ed.UrdfEditor()
|
||||||
|
ed0.initializeFromBulletBody(humanoid, p._client)
|
||||||
|
ed0.saveUrdf(p.getBodyInfo(0)[1]+"_"+p.getBodyInfo(o)[0]+".urdf")
|
||||||
@@ -1,7 +1,6 @@
|
|||||||
import pybullet as p
|
import pybullet as p
|
||||||
import time
|
import time
|
||||||
|
|
||||||
|
|
||||||
class UrdfInertial(object):
|
class UrdfInertial(object):
|
||||||
def __init__(self):
|
def __init__(self):
|
||||||
self.mass = 1
|
self.mass = 1
|
||||||
@@ -201,6 +200,10 @@ class UrdfEditor(object):
|
|||||||
file.write("\t\t</inertial>\n")
|
file.write("\t\t</inertial>\n")
|
||||||
|
|
||||||
def writeVisualShape(self,file,urdfVisual, precision=5):
|
def writeVisualShape(self,file,urdfVisual, precision=5):
|
||||||
|
#we don't support loading capsule types from visuals, so auto-convert from collision shape
|
||||||
|
if urdfVisual.geom_type == p.GEOM_CAPSULE:
|
||||||
|
return
|
||||||
|
|
||||||
file.write("\t\t<visual>\n")
|
file.write("\t\t<visual>\n")
|
||||||
str = '\t\t\t<origin rpy="{:.{prec}f} {:.{prec}f} {:.{prec}f}" xyz="{:.{prec}f} {:.{prec}f} {:.{prec}f}"/>\n'.format(\
|
str = '\t\t\t<origin rpy="{:.{prec}f} {:.{prec}f} {:.{prec}f}" xyz="{:.{prec}f} {:.{prec}f} {:.{prec}f}"/>\n'.format(\
|
||||||
urdfVisual.origin_rpy[0],urdfVisual.origin_rpy[1],urdfVisual.origin_rpy[2],
|
urdfVisual.origin_rpy[0],urdfVisual.origin_rpy[1],urdfVisual.origin_rpy[2],
|
||||||
@@ -276,8 +279,13 @@ class UrdfEditor(object):
|
|||||||
file.write("\">\n")
|
file.write("\">\n")
|
||||||
|
|
||||||
self.writeInertial(file,urdfLink.urdf_inertial)
|
self.writeInertial(file,urdfLink.urdf_inertial)
|
||||||
|
hasCapsules = False
|
||||||
for v in urdfLink.urdf_visual_shapes:
|
for v in urdfLink.urdf_visual_shapes:
|
||||||
self.writeVisualShape(file,v)
|
if (v.geom_type == p.GEOM_CAPSULE):
|
||||||
|
hasCapsules = True
|
||||||
|
if (not hasCapsules):
|
||||||
|
for v in urdfLink.urdf_visual_shapes:
|
||||||
|
self.writeVisualShape(file,v)
|
||||||
for c in urdfLink.urdf_collision_shapes:
|
for c in urdfLink.urdf_collision_shapes:
|
||||||
self.writeCollisionShape(file,c)
|
self.writeCollisionShape(file,c)
|
||||||
file.write("\t</link>\n")
|
file.write("\t</link>\n")
|
||||||
|
|||||||
@@ -6464,7 +6464,7 @@ static PyObject* pybullet_createCollisionShape(PyObject* self, PyObject* args, P
|
|||||||
{
|
{
|
||||||
pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation);
|
pybullet_internalSetVector4d(collisionFrameOrientationObj, collisionFrameOrientation);
|
||||||
}
|
}
|
||||||
b3CreateVisualShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation);
|
b3CreateCollisionShapeSetChildTransform(commandHandle, shapeIndex, collisionFramePosition, collisionFrameOrientation);
|
||||||
}
|
}
|
||||||
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
|
statusHandle = b3SubmitClientCommandAndWaitStatus(sm, commandHandle);
|
||||||
statusType = b3GetStatusType(statusHandle);
|
statusType = b3GetStatusType(statusHandle);
|
||||||
|
|||||||
Reference in New Issue
Block a user