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Support capsule and better error messages? #589
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is capsule a standard element in URDF? In my understanding it's actually not |
@zhouxian ah good point. Indeed it was not mentioned in https://wiki.ros.org/urdf/XML/link. However, we have seen it in some of the robot definitions (perhaps the vendor just used urdf as format but imported it to mujoco?). A bit tricky for me to find public examples, but one was referenced in https://github.com/bulletphysics/bullet3/blob/e9c461b0ace140d5c73972760781d94b7b5eee53/data/capsule.urdf#L16 |
ok i see |
Thanks @Genesis-Embodied-AI ! Also thanks for reminding me that actually the mujoco import supports capsule. I am unblocked right now so this is not urgent for me, but seems like good to support if easy so there's more parity with mujoco. |
Is there any plan to support capsule as one of the primitive geoms? So that there's better feature parity with Mujoco.
Also right now, loading URDF with capsule geom gives a cryptic error message like below:
Would be better if it more explicitly says capsules are not supported yet.
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