Open GiulioRomualdi opened 2 years ago
nim65s
commented
2 years ago Hi,
I can reproduce this issue in a totally different environment, but not with any other robot from this package (I tried with all of them). So I guess this is an issue in the URDF or SRDF of icub. I never used this robot. @cmastalli : did this ever work correctly for you ?
nim65s
commented
2 years ago (btw, I found out that simple_humanoid just has no visual at all…)
cmastalli
commented
2 years ago Hi,
I can reproduce this issue in a totally different environment, but not with any other robot from this package (I tried with all of them). So I guess this is an issue in the URDF or SRDF of icub. I never used this robot. @cmastalli : did this ever work correctly for you ?
Yes, it did. I generated a few videos with Icub in the past. At the moment, I have no clue what is going on.
jcarpent
commented
2 years ago Is it working well in MeshCat? What is the version of Pinocchio?
GiulioRomualdi
commented
2 years ago Hi @jcarpent, Pinocchio version is 2.6.3
Here when I try to view it with MeshCat
This is the script I used
import pinocchio as pin
import numpy as np
import sys
import os
from os.path import dirname, join, abspath
from pinocchio.visualize import MeshcatVisualizer
# Load the URDF model.
# Conversion with str seems to be necessary when executing this file with ipython
pinocchio_model_dir = os.getenv("ROBOTPKG_BASE")
model_path = join(pinocchio_model_dir,"share/example-robot-data/robots")
mesh_dir = pinocchio_model_dir
urdf_filename = "icub_reduced.urdf"
urdf_model_path = join(join(model_path,"icub_description/robots"),urdf_filename)
model, collision_model, visual_model = pin.buildModelsFromUrdf(urdf_model_path, mesh_dir, pin.JointModelFreeFlyer())
viz = MeshcatVisualizer(model, collision_model, visual_model)
# Start a new MeshCat server and client.
# Note: the server can also be started separately using the "meshcat-server" command in a terminal:
# this enables the server to remain active after the current script ends.
#
# Option open=True pens the visualizer.
# Note: the visualizer can also be opened seperately by visiting the provided URL.
try:
viz.initViewer(open=True)
except ImportError as err:
print("Error while initializing the viewer. It seems you should install Python meshcat")
print(err)
sys.exit(0)
# Load the robot in the viewer.
viz.loadViewerModel()
# Display a robot configuration.
q0 = pin.neutral(model)
viz.display(q0)
viz.displayCollisions(False)
viz.displayVisuals(True)
input()The issue is coming from the iCub model within the project. I would suggest switching to a descent version. @GiulioRomualdi Would you have time to select one of the available model and to put it within example-robot-data?
GiulioRomualdi
commented
2 years ago Yes, I can try to deal with that. In this concern, the latest iCub model that is automatically generated from the cad is this one
The model is different from the one currently stored in the example-robot-data
| New Version | Old Version |
|---|---|
 |
 |
If you agree I can port the new version in the repo. Do you prefer that I remove the old one and I add the new one or do I keep the old model?
jcarpent
commented
2 years ago As the old one does not look good in the viewer and we don't have time to investigate this issue, I would suggest removing it and replacing it with the proposed version. Thanks a lot, @GiulioRomualdi for your contribution.
jcarpent
commented
2 years ago @nim65s @cmastalli Any feedback?
cmastalli
commented
2 years ago No, please let's do not change the ICub model. We are using as a unittests in some repositories, this might trigger issues in other projects.
What I would suggest is to investigate why this is broken, and then fix it. I haven't tried from my side now, but it used to work before.
cmastalli
commented
2 years ago Also adding other mesh files (for a new ICub) will increase unnecessary the dimension of the repo.
This project doesn't aim to integrate a particular model used in our experiments. Instead, it aims to have a set of robot models for prototyping, unittesting and teaching.
jcarpent
commented
2 years ago No, please let's do not change the ICub model. We are using as a unittests in some repositories, this might trigger issues in other projects.
What I would suggest is to investigate why this is broken, and then fix it. I haven't tried from my side now, but it used to work before.
I see two options:
jcarpent
commented
2 years ago I would go for the second to let people move forward.
cmastalli
commented
2 years ago The problem is not the model, but the orientation of the mesh files.
This can be easily fixed by adapting the URDF.
I can provide a solution as soon I am available. But, unfortunately, I am extremely busy with other activities ATM.
Let's do not discuss about the second option.
jcarpent
commented
2 years ago Sorry @GiulioRomualdi, you will need to wait :(
GiulioRomualdi
commented
2 years ago I've just tried to load the new iCub model and everything works fine (except for the colors but this is a known issue in the urdf @traversaro)
Just to understand if the problem is related to Pinocchio or the model stored within this repo, I try to load it with iDynTree running the following command
idyntree-model-view -m icub.urdfthis is the output
jcarpent
commented
2 years ago Thanks @GiulioRomualdi for the nice report. So Pinocchio is NOT the issue. We are all safe then ;)
GiulioRomualdi
commented
2 years ago Thanks @GiulioRomualdi for the nice report. So Pinocchio is the issue. We are all safe then ;)
mmmh actually no, pinocchio is returning the very same result of idyntree so I think the problem is the model. Or iDynTree and Pinocchio have the same bug 🥲
jcarpent
commented
2 years ago Yes, you're right. I meant Pinocchio is NOT the issue.
traversaro
commented
2 years ago Or iDynTree and Pinocchio have the same bug 🥲
You know how they say, "great mind think alike". :D
cmastalli
commented
2 years ago I am thinking that this might be related with an old bug in Gepetto viewer.
This URDF model has not been changed from the first time in that I integrated and used it.
stephane-caron
commented
1 year ago Confirming from independent tests with yourdfpy that the iCub URDF in example-robot-data has a mesh orientation issue.
The one from https://github.com/robotology/icub-models/blob/9e91a7d7d09b4cf2c405f9b471965f6a6c3bab19/iCub/robots/iCubGazeboV2_5/model.urdf is fine :ok_hand:
cmastalli
commented
1 year ago Confirming from independent tests with yourdfpy that the iCub URDF in example-robot-data has a mesh orientation issue.
The one from https://github.com/robotology/icub-models/blob/9e91a7d7d09b4cf2c405f9b471965f6a6c3bab19/iCub/robots/iCubGazeboV2_5/model.urdf is fine 👌
I know that this issue is pending for a long time. However, feel free anyone to propose a solution if this is blocking you. Unfortunately, I am quite busy with other priority tasks
Hi all, I'm trying to visualize the
icubstored in this repo. I installed thegepetto guiand theexample-robot-datafromconda. When I try to spawnicubwith the following commandpython -m example_robot_data icubI got this resultThis is the output of
conda listcommandIs this problem related to this issue https://github.com/stack-of-tasks/pinocchio/issues/1471?