From 43699a81f12d253876318ad8523da20ecccb6fe0 Mon Sep 17 00:00:00 2001 From: YikaiFu-cart Date: Tue, 4 Aug 2026 20:53:26 +0800 Subject: [PATCH] =?UTF-8?q?fix:=20=E4=BF=AE=E5=A4=8Dmujoco=E4=BB=BF?= =?UTF-8?q?=E7=9C=9F=E9=87=8C=E5=B7=A6=E8=87=82=E5=89=AA=E5=88=80=E5=AE=89?= =?UTF-8?q?=E8=A3=85=E4=BD=8D=E7=BD=AE=E4=B8=8E=E5=AE=9E=E9=99=85=E4=BD=8D?= =?UTF-8?q?=E7=BD=AE=E4=B8=8D=E5=90=8C?= MIME-Version: 1.0 Content-Type: text/plain; charset=UTF-8 Content-Transfer-Encoding: 8bit --- xr_rm_teleop/models/dual_rm75/Dual_arm.urdf | 4 ++-- xr_rm_teleop/test/test_placo_transforms.py | 11 +++++++++++ 2 files changed, 13 insertions(+), 2 deletions(-) diff --git a/xr_rm_teleop/models/dual_rm75/Dual_arm.urdf b/xr_rm_teleop/models/dual_rm75/Dual_arm.urdf index 216751a..2cbffb8 100644 --- a/xr_rm_teleop/models/dual_rm75/Dual_arm.urdf +++ b/xr_rm_teleop/models/dual_rm75/Dual_arm.urdf @@ -514,7 +514,7 @@ - + @@ -523,7 +523,7 @@ - + diff --git a/xr_rm_teleop/test/test_placo_transforms.py b/xr_rm_teleop/test/test_placo_transforms.py index a3ddb4d..ae40541 100644 --- a/xr_rm_teleop/test/test_placo_transforms.py +++ b/xr_rm_teleop/test/test_placo_transforms.py @@ -95,6 +95,17 @@ def test_dual_urdf_has_expected_joints_meshes_and_tcp_frames() -> None: assert joint.find("origin").attrib["xyz"] == xyz +def test_left_scissor_mesh_matches_physical_mount_rotation() -> None: + root = ElementTree.parse(DUAL_URDF_PATH).getroot() + link = root.find("link[@name='scissor_scissor_link']") + + assert link is not None + assert link.find("visual/origin").attrib["rpy"] == "0 0 -1.5708" + assert link.find("collision/origin").attrib["rpy"] == "0 0 -1.5708" + tcp_joint = root.find("joint[@name='scissor_scissor_tcp_fixed']") + assert tcp_joint.find("origin").attrib["rpy"] == "0 0 0" + + def _dual_placo_solver( arm: str, joint_degrees: list[float],