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Absolem: Remove debug visuals (#852)
* Absolem: Sync Xacro: Trivial numeric representation changes. * Absolem: Sync Xacro: Whitespace only changes. * Absolem: Sync Xacro: 1e-5 changes. * Absolem: Sync Xacro: Rotation switched to the opposite direction, but it doesn't matter as it only rotates a symmetrical cube visual. * Absolem: Sync Xacro: Switch to SDF 1.7 <pose relative_to="">. No geometrical change (verified visually). * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Swap <parent> and <child> tag order. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Move joint SDF above link. * Absolem: Sync Xacro: Change IMU and friction parameters in Xacro to correspond to the desired values in SDF. * Absolem: Sync Xacro: Fixed SDF 1.7 <sensor><pose> wrong lumping. After this commit, the model.sdf can be exactly recreated by the update_robot_sdf script. Until gazebosim/sdformat#525 gets merged, `ign sdf -p` does not account for the reduced joint transform when outputting sensors attached to lumped frames. But it copies `<sensor><pose>` verbatim, so I took the old values from SDF and put them temporarily in `<sensor><pose>` where they specify relative position of the sensor to base_link where they get lumped. Printing of the resulting SDF memory model results in flipping one Euler notation, but it's a 100% equivalent transform. Here's a proof by Ignition Math: Quaterniond initialized by (-2.19645, -1.5707963267948966, 0) has: - coefs: -0.629608 -0.321859 -0.629608 0.321859 - Euler: -2.19645 -1.5708 0 Quaterniond initialized by (3.1415926535897931, -1.5707963267948966, 0.945143) has: - coefs: 0.629608 0.321859 0.629608 -0.321859 - Euler: -2.19645 -1.5708 0 This proves that the one changed line in model.sdf means no practical change. * Absolem: Removed empty link visuals as they obstructed the omnicam and were not good for anything else.
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