From 0d0db652fd3cb9840eb9ca8955e96365ae8eebab Mon Sep 17 00:00:00 2001 From: Giang Nguyen Date: Thu, 22 Aug 2024 12:18:49 +0200 Subject: [PATCH] Add default value --- .../src/multiverse_parser/importer/urdf_importer.py | 4 ++-- 1 file changed, 2 insertions(+), 2 deletions(-) diff --git a/multiverse/modules/multiverse_parser/src/multiverse_parser/importer/urdf_importer.py b/multiverse/modules/multiverse_parser/src/multiverse_parser/importer/urdf_importer.py index f32d7377..750f38ee 100644 --- a/multiverse/modules/multiverse_parser/src/multiverse_parser/importer/urdf_importer.py +++ b/multiverse/modules/multiverse_parser/src/multiverse_parser/importer/urdf_importer.py @@ -193,7 +193,7 @@ def _import_inertial(self, body: urdf.Link, body_builder: BodyBuilder) -> None: if self._config.inertia_source == InertiaSource.FROM_SRC: if body.inertial is not None: body_mass = body.inertial.mass - body_center_of_mass = body.inertial.origin.xyz + body_center_of_mass = body.inertial.origin.xyz if body.inertial.origin is not None else numpy.array([0.0, 0.0, 0.0]) body_inertia = body.inertial.inertia body_inertia_tensor = numpy.array([[body_inertia.ixx, body_inertia.ixy, body_inertia.ixz], [body_inertia.ixy, body_inertia.iyy, body_inertia.iyz], @@ -201,7 +201,7 @@ def _import_inertial(self, body: urdf.Link, body_builder: BodyBuilder) -> None: body_inertia_tensor = shift_inertia_tensor(mass=body_mass, inertia_tensor=body_inertia_tensor, quat=Rotation.from_euler('xyz', - body.inertial.origin.rpy).inv() + body.inertial.origin.rpy if body.inertial.origin is not None else numpy.array([0.0, 0.0, 0.0])).inv() .as_quat()) body_diagonal_inertia, body_principal_axes = diagonalize_inertia(inertia_tensor=body_inertia_tensor)