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fix: 修复mujoco仿真里左臂剪刀安装位置与实际位置不同

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YikaiFu-cart
2026-08-04 20:53:26 +08:00
parent 5a6ec47e6c
commit 43699a81f1
2 changed files with 13 additions and 2 deletions
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xr_rm_teleop/models/dual_rm75/Dual_arm.urdf
+2 -2
View File
@@ -514,7 +514,7 @@
<inertia ixx="0.0001" ixy="0" ixz="0" iyy="0.0001" iyz="0" izz="0.0001" />
</inertial>
<visual>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 0 -1.5708" />
<geometry>
<mesh filename="meshes/scissor.stl" scale="1 1 1" />
</geometry>
@@ -523,7 +523,7 @@
</material>
</visual>
<collision>
<origin xyz="0 0 0" rpy="0 0 0" />
<origin xyz="0 0 0" rpy="0 0 -1.5708" />
<geometry>
<mesh filename="meshes/scissor.stl" scale="1 1 1" />
</geometry>
xr_rm_teleop/test/test_placo_transforms.py
+11
View File
@@ -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],