MJCF to SDF: Improved inertia #48
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Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
Codecov Report
@@ Coverage Diff @@
## main #48 +/- ##
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+ Coverage 97.77% 97.79% +0.02%
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Files 16 16
Lines 628 636 +8
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+ Hits 614 622 +8
Misses 14 14
Continue to review full report at Codecov.
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Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
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I resolved conflicts but am getting a test failure locally |
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
| @@ -23,7 +23,7 @@ | |||
| COLLISION_NUMBER = 0 | |||
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| def mjcf_geom_to_sdf(geom): | |||
| def mjcf_body_to_sdf(geom): | |||
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This converting geoms, so I think it should be mjcf_geom_to_sdf. The one in
link.py should be mjcf_body_to_sdf. Is this an accidental
search/replace?
| @@ -7,7 +7,7 @@ | |||
| <joint type="free"/> | |||
| <inertial pos="0 1 0" mass="2" fullinertia="2 2 2 0 0 0"/> | |||
| <geom type="box" pos="0.1 0.3 0.2" size=".1 .2 .3" rgba="0 .9 0 1"/> | |||
| <geom name="cylinder" type="capsule" pos="1 2 3" mass="1" fromto="0 -0.06 0 0 0.06 0" size="0.05"/> | |||
| <geom name="cylinder" type="capsule" mass="1" fromto="0 -0.06 0 0 0.06 0" size="0.05"/> | |||
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Is this named cylinder intentially even though it's a capsule?
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
…nrobotics/gz-mujoco into ahcorde/mjcf2sdf/inertia
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tests are failing. |
@azeey Fixed |
| physics.named.model.body_iquat[body.name][0], | ||
| physics.named.model.body_iquat[body.name][1], | ||
| physics.named.model.body_iquat[body.name][2], | ||
| physics.named.model.body_iquat[body.name][3])) |
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nit: I would prefer to have a helper function in sdformat_mjcf_utils/sdf_utils.py that assists with this to ensure that we get the quaternion wxyz ordering right. Maybe wxyz_list_to_quat?
Signed-off-by: ahcorde <ahcorde@gmail.com>
Signed-off-by: ahcorde <ahcorde@gmail.com>
…nrobotics/gz-mujoco into ahcorde/mjcf2sdf/inertia
Signed-off-by: ahcorde ahcorde@gmail.com
🦟 Bug fix
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