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.
Wrong body orientation when loading URDF
Re: Wrong body orientation when loading URDF
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
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
Re: Wrong body orientation when loading URDF
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>
Re: Wrong body orientation when loading URDF
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
Cheers