Real-Time Physics Simulation Forum 2020-03-23T14:43:57+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12904 2020-03-23T14:43:57+00:00 2020-03-23T14:43:57+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=42729#p42729 <![CDATA[PyBullet loading URDF with Visual tag too small]]>
I have a very simple URDF file containing a cylinder. When I load the cylinder, the radius appears to be too small. Here is the URDF file:

Code: 

<?xml version="1.0"?><robot name="testing">  <link name="parent">    <inertial><origin xyz="0 0 0" rpy="0 0 0"/><mass value="0"/><inertia ixx="0.0" ixy="0" ixz="0" iyy="0.0" iyz="0" izz="0.0"/></inertial>    <collision><origin xyz="0 0 0" rpy="0 0 0"/>      <geometry><capsule radius="1" length="3"/></geometry>    </collision>    <visual><origin xyz="0 0 0" rpy="0 0 0"/>      <geometry><capsule radius="1" length="3"/></geometry>      <material name="color"><color rgba="1 0 0 0.5"/></material>    </visual>  </link></robot>
and here is the code to load it

Code: 

import pybullet as pimport pybullet_dataphysicsClient = p.connect(p.GUI)p.setPhysicsEngineParameter(enableFileCaching=0)p.setAdditionalSearchPath(pybullet_data.getDataPath())planeId = p.loadURDF("plane.urdf")robot = p.loadURDF("test.urdf")
When I load this URDF, the radius is too small. The plane.urdf file has a regular square tiling of 1 metre by 1 metre. The cylinder edge does not touch any of the corners of the squares, even though it has a radius of 1.

Furthermore, when I remove the visual tag and just load the collision tag, the radius renders correctly.

What's going on?

Statistics: Posted by avandekleut — Mon Mar 23, 2020 2:43 pm

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