Simple 2-body URDF fails to load in pyBullet
Posted: Tue Sep 22, 2020 4:52 pm
I'm new to pyBullet. I have a simple 2 body URDF that passes the "check_urdf" test. It also has the expected "urdf_to_graphiz" output. However, when I run a simple python script to load it pyBullet fails to load the URDF.
I'm running pyBullet 3.0.1.
My simple script is,
The output of running this script is,
I'm completely stumped. The URDF is very simple.
What am I missing here?
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(pyBullet) :$ lsb_release -a
No LSB modules are available.
Distributor ID: Ubuntu
Description: Ubuntu 20.04.1 LTS
Release: 20.04
Codename: focal
(pyBullet) :$ uname -aLinux SEDACS29L 4.4.0-18362-Microsoft #476-Microsoft Fri Nov 01 16:53:00 PST 2019 x86_64 x86_64 x86_64 GNU/Linux
My simple script is,
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import pybullet as p
import pybullet_data as pd
p.connect(p.GUI)
p.setAdditionalSearchPath(pd.getDataPath())
plane = p.loadURDF("plane.urdf")
urdf = p.loadURDF("test.urdf",[0,0,1.0], useFixedBase=False
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(pyBullet) :$ python test_load_urdf.py
pybullet build time: Sep 14 2020 02:24:09
startThreads creating 1 threads.
starting thread 0
started thread 0
argc=2
argv[0] = --unused
argv[1] = --start_demo_name=Physics Server
ExampleBrowserThreadFunc started
X11 functions dynamically loaded using dlopen/dlsym OK!
X11 functions dynamically loaded using dlopen/dlsym OK!
Creating context
Created GL 3.3 context
Direct GLX rendering context obtained
Making context current
GL_VENDOR=VMware, Inc.
GL_RENDERER=llvmpipe (LLVM 10.0.0, 256 bits)
GL_VERSION=3.3 (Core Profile) Mesa 20.0.8
GL_SHADING_LANGUAGE_VERSION=3.30
pthread_getconcurrency()=0
Version = 3.3 (Core Profile) Mesa 20.0.8
Vendor = VMware, Inc.
Renderer = llvmpipe (LLVM 10.0.0, 256 bits)
b3Printf: Selected demo: Physics Server
startThreads creating 1 threads.
starting thread 0
started thread 0
MotionThreadFunc thread started
ven = VMware, Inc.
ven = VMware, Inc.
numActiveThreads = 0
stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
finished
numActiveThreads = 0
btShutDownExampleBrowser stopping threads
Thread with taskId 0 exiting
Thread TERMINATED
destroy semaphore
semaphore destroyed
destroy main semaphore
main semaphore destroyed
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<?xml version="1.0" ?>
<robot name="simpleManip">
<link name="base">
<inertial>
<mass value="17.9"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<link name="link0">
<inertial>
<mass value="1.975"/>
<inertia ixx="0.01" ixy="0" ixz="0" iyy="0.01" iyz="0" izz="0.01"/>
</inertial>
</link>
<joint name="jnt0" type="revolute">
<parent link="base"/>
<child link="link0"/>
<axis xyz="1 0 0"/>
<origin xyz="0.308 0.0955 0"/>
<limit effort="375" lower="-0.53" upper="0.53" velocity="8.6"/>
<dynamics damping="0.0" friction="0.0"/>
</joint>
</robot>