I wrongly delete this branch. But I think it deserved attention from Pybullet users. The axis value do matters in Bullet simulation.
Feb 4th PR comments:
For rotationAxisVector exported in Fusion, it is a normalized vector indicating the rotation axis. So theoretically the unit conversion is not needed here.
I am a Pybullet user and the unit conversion indeed cause a problem during simulation. The 0.01 scale do matters in Pybullet, and will cause the joints moves 100 times slower than expected.
I'm not sure how gazebo deal with the rotation axis numbers. Maybe someone will be interested in testing that?
I wrongly delete this branch. But I think it deserved attention from Pybullet users. The axis value do matters in Bullet simulation.
Feb 4th PR comments:
For rotationAxisVector exported in Fusion, it is a normalized vector indicating the rotation axis. So theoretically the unit conversion is not needed here.
I am a Pybullet user and the unit conversion indeed cause a problem during simulation. The 0.01 scale do matters in Pybullet, and will cause the joints moves 100 times slower than expected.
I'm not sure how gazebo deal with the rotation axis numbers. Maybe someone will be interested in testing that?