PyBullet loading URDF with Visual tag too small
Posted: Mon Mar 23, 2020 2:43 pm
Hello,
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:
and here is the code to load it
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?
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: Select all
<?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>
Code: Select all
import pybullet as p
import pybullet_data
physicsClient = p.connect(p.GUI)
p.setPhysicsEngineParameter(enableFileCaching=0)
p.setAdditionalSearchPath(pybullet_data.getDataPath())
planeId = p.loadURDF("plane.urdf")
robot = p.loadURDF("test.urdf")
Furthermore, when I remove the visual tag and just load the collision tag, the radius renders correctly.
What's going on?