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[bug] Mirrored models in URDF preview #1139

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RangaSundarRS opened this issue Sep 24, 2023 · 8 comments
Open
2 of 4 tasks

[bug] Mirrored models in URDF preview #1139

RangaSundarRS opened this issue Sep 24, 2023 · 8 comments
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bug Something isn't working URDF

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@RangaSundarRS
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(Please add appropriate labels)

  • Windows: (10 Pro, Version 22H2, OS Build 19045.3448)
  • Linux: (Dist/Version)
  • ROS 1: Dist
  • ROS 2: Humble

<0.9.5>

<1.18.2>

what is the bug

When loading the Motoman MH180-120 robot arm, all links' models are mirrored over the link's Y-Z axis. The models are actually in the correct positions, but are displaying flipped.
VScode_Mirrored

Repro steps

See https://github.com/RangaSundarRS/MotomanMH-ROS2/tree/main for URDF and STL.

  1. Source your ROS2 Humble install
  2. Build the package with colcon build
  3. Source the package with the install\local_setup.ps1
  4. Run code to launch VSCode with
  5. Open the folder in VSCode.
  6. Open urdf\mh180_120.xacro in VSCode.
  7. Ctrl-Shift-P -> ROS: Preview URDF
  8. View the incorrect display of URDF. Many links are mirrored and rotated around such that the robot arm is no longer even connected!

expected behavior

The links should appear properly, not mirrored over the Y-Z axis.
Correct appearance (from RoboDK, this is not using the URDF):
RoboDK_MH180_120

Correct visualization of the URDF (From urdf-viz):
urdf-viz_Correct

@RangaSundarRS RangaSundarRS added the bug Something isn't working label Sep 24, 2023
@ooeygui
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ooeygui commented Sep 27, 2023

Thank you - investigating.

@ooeygui ooeygui self-assigned this Sep 27, 2023
@ooeygui ooeygui added the URDF label Sep 27, 2023
@Ali-J-Fesharaki
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Ali-J-Fesharaki commented Dec 1, 2023

I have the same issue .it flips my shoulders but in movie and gazebo my model is fine
Screenshot from 2023-12-01 05-15-34

@ooeygui
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ooeygui commented Dec 4, 2023

Oops, that's embarrassing. Thanks for bringing it to my attention

@jweaston
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I am also experiencing the same issue with the Fanuc CRX10ial.
image
Let me know if there's any other information I can provide to help debug this issue.

@polyhobbyist
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This was a "handed coordinate system" problem. Corrected by inverting the meshes. I'm testing to make sure I didn't regress anything else.
image

@polyhobbyist
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I also noticed that the materials aren't applied by name; for example <material name="yellow"/> doesn't render because the RGBA isn't included.

@polyhobbyist
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@RangaSundarRS Do you mind if I include a flattened version of your xacro in the test case for the rendering?

@Usimian
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Usimian commented Jul 21, 2024

Would love to see this fixed. URDF preview in vscode is very useful.
For now I've gone back to urdf-viz which renders properly.

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