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Gepetto / example-robot-data

Set of robot URDFs for benchmarking and developed examples.
BSD 3-Clause "New" or "Revised" License
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parsing error while loading universal robot urdf/dae files #75

Closed ntorresalberto closed 3 years ago

ntorresalberto commented 3 years ago

Hi, From what I read here it could be related to the hpp-fcl library.

Basically I'm trying this:

import example_robot_data
robot = example_robot_data.load('ur10')
$ python -i mwe_load_ur10.py 
Traceback (most recent call last):
  File "mwe_load_ur10.py", line 2, in <module>
    robot = example_robot_data.load('ur10')
  File "/home/user/.conda/envs/pinocchio/lib/python3.8/site-packages/example_robot_data/robots_loader.py", line 506, in load
    return loader(name, display, rootNodeName).robot
  File "/home/user/.conda/envs/pinocchio/lib/python3.8/site-packages/example_robot_data/robots_loader.py", line 493, in loader
    inst = ROBOTS[name]()
  File "/home/user/.conda/envs/pinocchio/lib/python3.8/site-packages/example_robot_data/robots_loader.py", line 64, in __init__
    self.robot = RobotWrapper.BuildFromURDF(self.urdf_path, [join(self.model_path, '../..')],
  File "/home/user/.conda/envs/pinocchio/lib/python3.8/site-packages/pinocchio/robot_wrapper.py", line 17, in BuildFromURDF
    robot.initFromURDF(filename, package_dirs, root_joint, verbose, meshLoader)
  File "/home/user/.conda/envs/pinocchio/lib/python3.8/site-packages/pinocchio/robot_wrapper.py", line 21, in initFromURDF
    model, collision_model, visual_model = buildModelsFromUrdf(filename, package_dirs, root_joint, verbose, meshLoader)
  File "/home/user/.conda/envs/pinocchio/lib/python3.8/site-packages/pinocchio/shortcuts.py", line 45, in buildModelsFromUrdf
    geom_model = pin.buildGeomFromUrdf(model, filename, geometry_type, package_dirs)
ValueError: Mesh index: 0
Face index: 0

I can reproduce the same error while using pinocchio with ros-industrial while trying to buildFromUrdf to load ur3, ur3e, ur5e, ur10, ur10e.

Some info about my setup: I'm running Fedora 32 and all libraries were installed from conda-forge.

jcarpent commented 3 years ago

This issue is due to Assimp in fact. I will try to fix it by regenerating correctly the mesh.

jcarpent commented 3 years ago

But robot = example_robot_data.load('ur5') works well.

ntorresalberto commented 3 years ago

But robot = example_robot_data.load('ur5') works well.

Yes, exaclty. I listed the UR robots that cause this problem with universal-robots, I don't know if it's useful but ur5 works and ur5e doesn't.

This issue is due to Assimp in fact. I will try to fix it by regenerating correctly the mesh.

Thank you. I don't know what that is, but let me know if I can be of help.

cmastalli commented 3 years ago

@jcarpent -- we need to update our unittest as well, could you handle it?

Unfortunately, we are just testing UR5 (see https://github.com/Gepetto/example-robot-data/blob/master/unittest/test_load.py#L106-L110)

jcarpent commented 3 years ago

I'm adjusting the policy inside hpp-fcl. Please see https://github.com/humanoid-path-planner/hpp-fcl @cmastalli I don't have time to update the tests. I let you do this task.

cmastalli commented 3 years ago

I have created a PR with the unittests. However, we need to wait a new HPP-FCL release before merging it. @jcarpent -- could we possible to have a soon release in HPP-FCL?

cmastalli commented 3 years ago

This has been solved!