robotiq 85 xml

[guodashun]

Dear Robosuite team, Thanks for your great work in robosuite! I'm trying to add robotiq 2f-85 model to my env and I've found there is a perpared xml model of this gripper. But when I load this xml I meet some problems.

        <mesh name="robotiq_arg2f_base_link" file="meshes/robotiq_85_gripper/robotiq_arg2f_base_link.stl" />
        <mesh name="robotiq_arg2f_85_outer_knuckle" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_outer_knuckle.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_outer_finger" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_outer_finger.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_inner_finger" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_finger.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_85_inner_knuckle" file="meshes/robotiq_85_gripper/robotiq_arg2f_85_inner_knuckle.stl" scale="0.001 0.001 0.001" />
        <mesh name="robotiq_arg2f_base_link" file="meshes/robotiq_85_gripper/robotiq_arg2f_base_link_vis.stl" />

In the line 3 and 8, there is an same mesh name . And in the mesh folder, I could not find the file robotiq_arg2f_base_link_vis.stl. Then I run the demo test_gripper, I've found the robotiq85 can actually work. It's confusing to me, maybe there are some settings missing for me? Thank you very much.

[cremebrule]

Hi @guodashun ,

How are you trying to load the XML? There could be a potential issue due to the fact that the meshes are specified as relative paths, rather than absolute paths.

For reference, all the robotiq 85 mesh files are found HERE. Can you try specifying absolute paths instead and seeing if that fixes your problem?

[guodashun]

Thanks for your reply. The problem is that I could not find the _robotiq_arg2f_base_linkvis.stl in the given link.

[cambel]

@guodashun, you are right, that mesh is missing from the repository.