Absolem: Remove debug visuals #852
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… it doesn't matter as it only rotates a symmetrical cube visual.
No geometrical change (verified visually).
…orrespond to the desired values in SDF.
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.
…d were not good for anything else.
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This would need a re-upload to Fuel. |
This was referenced Mar 31, 2021
nkoenig
approved these changes
Apr 1, 2021
Closed
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This PR has been replaced by #878 . |
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There are some visuals we forgotten to remove on Absolem. They create annoying artifacts in the omnicamera. This PR removes the visuals (all of them were black cubes 0.5x0.5x0.5 cm I used to debug placement of the camera sensors).
Cameras without this PR:
Cameras with this PR:
I based this PR on top of #851 . After merging #851, this will be just a single commit. Look at the last commit in this PR during review only.