Removed extra search paths in ergocub model building

src/jaxsim/parsers/rod/utils.py

@@ -242,8 +242,8 @@ def create_mesh_collision(
 
     W_H_L = collision.pose.transform() if collision.pose is not None else np.eye(4)
     # Extract translation from transformation matrix
-    W_p_L = H[:3, 3]
-    mesh_points_wrt_link = points @ H[:3, :3].T + W_p_L
+    W_p_L = W_H_L[:3, 3]
+    mesh_points_wrt_link = points @ W_H_L[:3, :3].T + W_p_L
     collidable_points = [
         descriptions.CollidablePoint(
             parent_link=link_description,

tests/conftest.py

@@ -244,14 +244,9 @@ def jaxsim_model_ur10() -> js.model.JaxSimModel:
     """
 
     import robot_descriptions.ur10_description
-    from robot_descriptions._package_dirs import get_package_dirs
 
     model_urdf_path = pathlib.Path(robot_descriptions.ur10_description.URDF_PATH)
 
-    os.environ["GAZEBO_MODEL_PATH"] = os.environ.get(
-        "GAZEBO_MODEL_PATH", ""
-    ) + ":".join(get_package_dirs(robot_descriptions.ur10_description))
-
     return build_jaxsim_model(model_description=model_urdf_path)
 
 

tests/test_meshes.py

@@ -68,9 +68,7 @@ def test_mesh_wrapping_points_over_axis():
 
     # Test 1.1: Remove 10 points from the lower end of the x-axis
     # First, create a box with origin at (0,0,0) and extents (3,3,3) -> points span from -1.5 to 1.5 on axis
-    mesh = trimesh.creation.box(
-        extents=[3.0, 3.0, 3.0],
-    )
+    mesh = trimesh.creation.box(extents=[3.0, 3.0, 3.0])
     points = meshes.extract_points_select_points_over_axis(
         mesh=mesh, axis="x", direction="lower", n=4
     )