Wrong body orientation when loading URDF

[Pouya]

Hello,

I have a urdf model which I load using the shipped plugin. For some reasons the loaded model is not the way it should be. If I load the same model in Gazebo or Rviz, the model is okay, however, in vrep some shapes/bodies have wrong orientation. The only thing that I changed from Gazebo to Rviz to vrep, is changing package to filename to model where the mesh is specified.

Any idea what could cause this behavior?

Thanks,
Pouya.

[coppelia]

Hello,

can you try to import the same URDF model using an old V-REP version? It could be that a bug was introduced 3-4 versions before in the URDF plugin.
In next release we should be able to provide a first version of a SDF importer.

Cheers

[Pouya]

My current version is 3.3.0 and I also tried with 3.2.2 both on Linux 64. The results are similar and wrong. Another thing that I noted about URDF is that in my file I have different mesh files for visual and collision nodes. Basically collision in a simplified mesh to accelerate the computation. This is similar to respondible in vrep terminology. The problem is, vrep importer always imports the collision node for both visual and respondible mesh. A cutout of my URDF that highlights this problem:

Code: Select all

<link name="Waist">
    <inertial>
      <origin rpy="0.0 0.0 0.0" xyz="-0.026391145 -5.8216364E-4 0.052632312"/>
      <mass value="1.8008695"/>
      <inertia ixx="0.0051032982" ixy="-5.7170981E-5" ixz="0.0016920543" iyy="0.006241636" iyz="1.7225949E-5" izz="0.0024517762"/>
    </inertial>
    <visual>
      <origin rpy="0 0 3.14159265359" xyz="0 0 -0.52"/>
      <material name="dark_grey"/>
      <geometry name="Waist_visual">
        <mesh filename="package:///absolute_path_to_meshes/Waist.STL" scale="0.03937 0.03937 0.03937"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 0 3.14159265359" xyz="0 0 -0.52"/>
      <geometry name="Waist_collision">
        <mesh filename="package:///absolute_path_to_meshes/simple/Waist.STL" scale="0.03937 0.03937 0.03937"/>
      </geometry>
    </collision>
  </link>

[coppelia]

I think you need to check 2 or 3 versions before 3.2.2. Probably 3.2.0 or 3.1.3. Sorry about the trouble.

Cheers