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add dummy physics for imu sensor to make gyro work #101

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add dummy physics for imu sensor to make gyro work #101

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9 changes: 8 additions & 1 deletion urdf2webots/writeProto.py
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Original file line number Diff line number Diff line change
Expand Up @@ -2,7 +2,7 @@

import math
import numpy as np

from urdf2webots.parserURDF import IMU
from urdf2webots.math_utils import rotateVector, matrixFromRotation, multiplyMatrix, rotationFromMatrix

toolSlot = None
Expand Down Expand Up @@ -112,6 +112,13 @@ def URDFLink(proto, link, level, parentList, childList, linkList, jointList, sen
# 2: export Sensors
for sensor in sensorList:
if sensor.parentLink == link.name:
# add dummy physics for imu sensor if there is none since gyro requires it
if type(sensor) == IMU and link.inertia.mass is None:
proto.write((level + 1) * indent + 'physics Physics {\n')
proto.write((level + 1) * indent + '}\n')
proto.write((level + 1) * indent + 'boundingObject Box {\n')
proto.write((level + 1) * indent + 'size 0.01 0.01 0.01\n')
proto.write((level + 1) * indent + '}\n')
if not haveChild:
haveChild = True
proto.write((level + 1) * indent + 'children [\n')
Expand Down