SDF 1.2 conversion bug? [closed]

asked 2012-11-13 05:32:31 -0600

Erik Stoltenborg gravatar image

updated 2012-11-15 02:55:06 -0600

Dear all,

I think the new SDF is bugged, but i could be wrong:

The latest commit changed <orgin> into <pose>, in the sdf. Since then the pose of the third and second link in my world file gets reverted to default.

This does not happen in 1.2.5, which i use at home, there it is handled correctly: good

Whereas in the 1.2.6 it looks like this: bad

Picture links seem to fail: version 1.2.5: http://imageshack.us/a/img26/6923/gaz... version 1.2.6: http://imageshack.us/a/img90/5282/gaz...

Here is the model.sdf (it is quite large), i tried numeruous combination of poses (defined in the joint and/or link). Only the pose definition in the <link name="table"> link works in 1.2.6.

<?xml version='1.0'?>
  <gazebo version='1.2'>
    <model name="my_robot">
    <static>false</static>
    <!-- angles are not exact (error ~2.5e-4) hence movement occurs because joint friction does not work.-->
    <link name='table'>
        <self_collide>false</self_collide>
            <pose>0.0000 0.0000 0.0000 0.000 0.000 0.000</pose>
            <velocity_decay>
                <linear>100</linear>
                <angular>100</angular>
            </velocity_decay>
            <inertial>
                <mass>100</mass>
            </inertial>

        <collision name='table_c'>
        <geometry>
            <mesh>
                 <uri>model://soccer_table/meshes/table_simple.dae</uri>
                 <scale>0.5 0.5 0.5</scale>
            </mesh>
        <!--box><size>0.6 0.5 0.34</size></box-->
        </geometry>         
        <surface>
            <bounce>
                <restitution_coefficient>0.9</restitution_coefficient>
                <threshold>0.1</threshold>
            </bounce>
            <friction>
                <ode>
                    <mu>0.3</mu>
                    <mu2>0.3</mu2>
                </ode>
            </friction>
        </surface>      
    </collision>

        <visual name='table_v'>
            <geometry>
            <mesh>
                    <uri>model://soccer_table/meshes/table_simple.dae</uri>
                    <scale>0.5 0.5 0.5</scale>
            </mesh>
            <!--box><size>0.6 0.5 0.34</size></box-->
            </geometry>
        </visual>
</link>


<link name="link_1r">
    <pose>0.0000 0.0000 0.06500 0.0000 0.0000 0.0000 </pose>
    <self_collide>false</self_collide>
    <velocity_decay>
        <linear>0.001</linear>
        <angular>0.001</angular>
        </velocity_decay>
    <inertial>
        <mass>0.1</mass>
        <inertia>
            <ixx>0.01</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.001</iyy>
            <iyz>0</iyz>
            <izz>0.01</izz>
        </inertia>
    </inertial>

    <collision name='link_1r_c'>
        <geometry>
            <box><size>0.0075 0.34 0.0075 </size></box>
        </geometry>
        <surface>
            <bounce>
                <restitution_coefficient>0.9</restitution_coefficient>
                <threshold>0.1</threshold>
            </bounce>
            <friction>
                <ode>
                    <mu>0.3</mu>
                    <mu2>0.3</mu2>
                </ode>
            </friction>
        </surface>  
        </collision>

        <visual name='link_1r_v'>
            <geometry>
        <box><size>0.0075 0.34 0.0075 </size></box>
            </geometry>
        </visual>      
</link>

<link name="puppet">
    <pose>0.0000 0.0000 0.06500 0.0000 0.0000 0.0000 </pose>
    <velocity_decay>
            <linear>0.001</linear>
            <angular>0.001</angular>
        </velocity_decay>
    <self_collide>false</self_collide>
    <inertial>
        <mass>0.002069</mass>
        <inertia>
            <ixx>0.001</ixx>
            <ixy>0</ixy>
            <ixz>0</ixz>
            <iyy>0.0002</iyy>
            <iyz>0</iyz>
            <izz>0.001</izz>
        </inertia>
    </inertial>

    <collision name='puppet_c'>
        <geometry>
            <box><size>0.0075 0.01 0.1</size></box>
        </geometry>
        <surface>
            <bounce>
                <restitution_coefficient>0.9</restitution_coefficient>
                <threshold>0.1</threshold>
            </bounce>
            <friction>
                <ode>
                    <mu>0.3</mu>
                    <mu2>0.3</mu2>
                    <fdir1 ...
(more)
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Closed for the following reason question is not relevant or outdated by nkoenig
close date 2013-07-23 16:54:12.350738

Comments

Can you post your SDF file?

nkoenig gravatar imagenkoenig ( 2012-11-14 11:48:06 -0600 )edit

I've updated the post, on a side-note: is their a way to write .sdf code that is less sparse? I find 200 lines of code for a three link model a bit inefficient (once fully implemented it would yield ~1000 lines of code).

Erik Stoltenborg gravatar imageErik Stoltenborg ( 2012-11-15 02:59:09 -0600 )edit

*Bump*Nothing?

Erik Stoltenborg gravatar imageErik Stoltenborg ( 2012-11-20 02:10:02 -0600 )edit

Sorry for the delay. Any luck with Gazebo 1.3?

nkoenig gravatar imagenkoenig ( 2013-01-11 19:43:36 -0600 )edit