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don't use empty frame for pose in sdf files
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use hint for clang that if (0) is intentional
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Erwin Coumans committed Aug 30, 2021
1 parent 7ac95be commit 68424fe
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Showing 35 changed files with 1,009 additions and 1,009 deletions.
2 changes: 1 addition & 1 deletion Extras/Serialize/BulletFileLoader/bFile.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -737,7 +737,7 @@ void bFile::parseStruct(char *strcPtr, char *dtPtr, int old_dna, int new_dna, bo
if (new_dna == -1) return;

//disable this, because we need to fixup pointers/ListBase
if (0) //mFileDNA->flagEqual(old_dna))
if (/* DISABLES CODE */ (0)) //mFileDNA->flagEqual(old_dna))
{
short *strc = mFileDNA->getStruct(old_dna);
int len = mFileDNA->getLength(strc[0]);
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4 changes: 2 additions & 2 deletions Extras/obj2sdf/obj2sdf.cpp
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Original file line number Diff line number Diff line change
Expand Up @@ -271,7 +271,7 @@ int main(int argc, char* argv[])
fprintf(sdfFile,
"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<pose >0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
Expand Down Expand Up @@ -411,7 +411,7 @@ int main(int argc, char* argv[])
fprintf(sdfFile,
"\t\t<model name='%s'>\n"
"\t\t\t<static>1</static>\n"
"\t\t\t<pose frame=''>0 0 0 0 0 0</pose>\n"
"\t\t\t<pose>0 0 0 0 0 0</pose>\n"
"\t\t\t<link name='link_d%d'>\n"
"\t\t\t<inertial>\n"
"\t\t\t<mass>0</mass>\n"
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2 changes: 1 addition & 1 deletion data/cube_small.sdf
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Original file line number Diff line number Diff line change
@@ -1,7 +1,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='unit_box_0'>
<pose frame=''>0 0 0.107 0 0 0</pose>
<pose>0 0 0.107 0 0 0</pose>
<link name='unit_box_0::link'>
<inertial>
<mass>0.1</mass>
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54 changes: 27 additions & 27 deletions data/gripper/wsg50_one_motor_gripper.sdf
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@
<sdf version='1.6'>
<world name='default'>
<model name='wsg50_with_gripper'>
<pose frame=''>0 0 0.26 3.14 0 0</pose>
<pose>0 0 0.26 3.14 0 0</pose>

<link name='world'>
</link>
Expand All @@ -28,9 +28,9 @@
</joint>

<link name='base_link'>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>1.2</mass>
<inertia>
<ixx>1</ixx>
Expand All @@ -43,7 +43,7 @@
</inertial>

<visual name='base_link_visual'>
<pose frame=''>0 0 0 0 -0 0</pose>
<pose>0 0 0 0 -0 0</pose>
<geometry>
<mesh>
<scale>1 1 1</scale>
Expand All @@ -58,9 +58,9 @@
</link>

<link name='motor'>
<pose frame=''>0 0 0.03 0 0 0</pose>
<pose>0 0 0.03 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0 0 0 0</pose>
<pose>0 0 0 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
Expand All @@ -72,7 +72,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0 0 0.01 0 0 0</pose>
<pose>0 0 0.01 0 0 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.02 </size>
Expand Down Expand Up @@ -102,9 +102,9 @@
</joint>

<link name='left_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
Expand All @@ -116,7 +116,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>-0.03 0 0.01 0 -1.2 0</pose>
<pose>-0.03 0 0.01 0 -1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
Expand Down Expand Up @@ -147,9 +147,9 @@
</joint>

<link name='right_hinge'>
<pose frame=''>0 0 0.04 0 0 0</pose>
<pose>0 0 0.04 0 0 0</pose>
<inertial>
<pose frame=''>0 0 0.035 0 0 0</pose>
<pose>0 0 0.035 0 0 0</pose>
<mass>0.1</mass>
<inertia>
<ixx>0.1</ixx>
Expand All @@ -161,7 +161,7 @@
</inertia>
</inertial>
<visual name='motor_visual'>
<pose frame=''>0.03 0 0.01 0 1.2 0</pose>
<pose>0.03 0 0.01 0 1.2 0</pose>
<geometry>
<box>
<size>0.02 0.02 0.07 </size>
Expand Down Expand Up @@ -192,9 +192,9 @@
</joint>

<link name='gripper_left'>
<pose frame=''>-0.055 0 0.06 0 -0 0</pose>
<pose>-0.055 0 0.06 0 -0 0</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
Expand All @@ -207,7 +207,7 @@
</inertial>

<visual name='gripper_left_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
Expand All @@ -216,7 +216,7 @@
</geometry>
</visual>
<visual name='gripper_left_fixed_joint_lump__finger_left_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
Expand Down Expand Up @@ -249,9 +249,9 @@
</joint>

<link name='gripper_right'>
<pose frame=''>0.055 0 0.06 0 0 3.14159</pose>
<pose>0.055 0 0.06 0 0 3.14159</pose>
<inertial>
<pose frame=''>0 0 0.0115 0 -0 0</pose>
<pose>0 0 0.0115 0 -0 0</pose>
<mass>0.2</mass>
<inertia>
<ixx>0.1</ixx>
Expand All @@ -264,7 +264,7 @@
</inertial>

<visual name='gripper_right_visual'>
<pose frame=''>0 0 -0.06 0 0 0</pose>
<pose>0 0 -0.06 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
Expand All @@ -273,7 +273,7 @@
</geometry>
</visual>
<visual name='gripper_right_fixed_joint_lump__finger_right_visual_1'>
<pose frame=''>0 0 -0.037 0 0 0</pose>
<pose>0 0 -0.037 0 0 0</pose>
<geometry>
<mesh>
<scale>0.001 0.001 0.001</scale>
Expand Down Expand Up @@ -305,7 +305,7 @@
</joint>

<link name='finger_right'>
<pose frame=''>0.062 0 0.145 0 0 1.5708</pose>
<pose>0.062 0 0.145 0 0 1.5708</pose>
<inertial>
<mass>0.2</mass>
<inertia>
Expand All @@ -319,7 +319,7 @@
</inertial>

<collision name='finger_right_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
Expand All @@ -329,7 +329,7 @@
</collision>

<visual name='finger_right_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
Expand All @@ -345,7 +345,7 @@
</joint>

<link name='finger_left'>
<pose frame=''>-0.062 0 0.145 0 0 4.71239</pose>
<pose>-0.062 0 0.145 0 0 4.71239</pose>
<inertial>
<mass>0.2</mass>
<inertia>
Expand All @@ -359,7 +359,7 @@
</inertial>

<collision name='finger_left_collision'>
<pose frame=''>0 0 0.042 0 0 0 </pose>
<pose>0 0 0.042 0 0 0 </pose>
<geometry>
<box>
<size>0.02 0.02 0.15 </size>
Expand All @@ -369,7 +369,7 @@
</collision>

<visual name='finger_left_visual'>
<pose frame=''>0 0 0 0 0 0 </pose>
<pose>0 0 0 0 0 0 </pose>
<geometry>
<mesh>
<scale>1 1 1 </scale>
Expand Down
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