Hi Professor Hauser,
I'm trying to add sensors to a Klampt environment, but am running into some issues. From here, it looks like to simulate the sensors klampt.Simulator
must be used. However, when doing that, I am running into the following issue:
ODESimulator: Initializing ODE...
Initializing simulation...
WorldSimulator: Creating WorldSimulation
ODESimulator: ODERobot: warning, body 0 has mass zero
ODESimulator: Consists of links: trina_base_x_link,
ODESimulator: ODERobot: warning, body 0 has zero inertia
ODESimulator: Consists of links: trina_base_x_link,
ODESimulator: ODERobot: warning, body 1 has mass zero
ODESimulator: Consists of links: trina_base_y_link,
ODESimulator: ODERobot: warning, body 1 has zero inertia
ODESimulator: Consists of links: trina_base_y_link,
ODESimulator: ODERobot: warning, body 3 has zero inertia
ODESimulator: Consists of links: torso_link,
ODESimulator: ODERobot: warning, body 5 has zero inertia
ODESimulator: Consists of links: left_ee_link,
ODESimulator: ODERobot: warning, body 6 has zero inertia
ODESimulator: Consists of links: right_ee_link,
ODESimulator: ODERobot: warning, body 17 has zero inertia
ODESimulator: Consists of links: left:gripper:base,
ODESimulator: ODERobot: warning, body 42 has zero inertia
ODESimulator: Consists of links: right:gripper:base,
ODE Message 2: mass must be > 0 in dMassCheck() [mass.cpp:49]
ODESimulator: Uh... mass of body 0 is not considered to be valid by ODE?
ODESimulator: Inertia: 0 0 0
0 0 0
0 0 0
ODESimulator: Setting inertia to 0.01*identity.
Press enter to continue...
ODE Message 2: mass must be > 0 in dMassCheck() [mass.cpp:49]
ODE INTERNAL ERROR 1: assertion "dMassCheck(mass)" failed in dBodySetMass() [ode.cpp:485]
[1] 18616 abort (core dumped) python sensing_test.py
Here is the .rob
file that was used in the world. The above error occurs when I write sim = klampt.Simulator(world)
.
Looking at the warnings from the Simulator, the links that are receiving warnings correspond to the links that don't have a geometry file specified here and also here (the second file is included in the first file).
I was wondering if there is a way to fix this issue?
Thanks,
Eric
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