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HoangGiang93 / urdf_importer

Add-on for Blender, provides importing robots from URDF format
MIT License
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Problem importing robot #2

Closed aiolosgs closed 1 year ago

aiolosgs commented 1 year ago

Hi, I'm trying to import my urdf file and the blender got stuck after I choose the file and start importing. Here is the error message I got: blender and this is the file I tried to import:

<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from xarm6_robot.urdf.xacro         | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="xarm6">
  <!--
  Author: Jason Peng <jason@ufactory.cc>
  Contributers:
-->
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="gazebo_ros_control">
      <robotNamespace>/xarm</robotNamespace>
      <!-- <controlPeriod>0.0001</controlPeriod> -->
      <robotSimType>gazebo_ros_control/DefaultRobotHWSim</robotSimType>
      <legacyModeNS>true</legacyModeNS>
      <!-- <preserveWorldVelocity>true</preserveWorldVelocity> -->
    </plugin>
  </gazebo>
  <link name="world"/>
  <joint name="world_joint" type="fixed">
    <parent link="world"/>
    <child link="link_base"/>
    <origin rpy="0 0 0" xyz="0 0 0"/>
  </joint>
  <material name="Black">
    <color rgba="0.0 0.0 0.0 1.0"/>
  </material>
  <material name="Red">
    <color rgba="0.8 0.0 0.0 1.0"/>
  </material>
  <material name="White">
    <color rgba="1.0 1.0 1.0 1.0"/>
  </material>
  <material name="Silver">
    <color rgba="0.753 0.753 0.753 1.0"/>
  </material>
  <link name="link_base">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/base.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.0 0.09103"/>
      <mass value="2.7"/>
      <inertia ixx="0.00494875" ixy="-3.5E-06" ixz="1.25E-05" iyy="0.00494174" iyz="1.67E-06" izz="0.002219"/>
    </inertial>
  </link>
  <link name="link1">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link1.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.002 0.02692 -0.01332"/>
      <mass value="2.16"/>
      <inertia ixx="0.00539427" ixy="1.095E-05" ixz="1.635E-06" iyy="0.0048979" iyz="0.000793" izz="0.00311573"/>
    </inertial>
  </link>
  <joint name="joint1" type="revolute">
    <parent link="link_base"/>
    <child link="link1"/>
    <origin rpy="0 0 0" xyz="0 0 0.267"/>
    <axis xyz="0 0 1"/>
    <limit effort="50.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link2">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link2.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.03531 -0.21398 0.03386"/>
      <mass value="1.71"/>
      <inertia ixx="0.0248674" ixy="-0.00430651" ixz="-0.00067797" iyy="0.00485548" iyz="0.00457245" izz="0.02387827"/>
    </inertial>
  </link>
  <joint name="joint2" type="revolute">
    <parent link="link1"/>
    <child link="link2"/>
    <origin rpy="-1.5708 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="50.0" lower="-2.059" upper="2.0944" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link3">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link3.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.06781 0.10749 0.01457"/>
      <mass value="1.384"/>
      <inertia ixx="0.0053694" ixy="0.0014185" ixz="-0.00092094" iyy="0.0032423" iyz="-0.00169178" izz="0.00501731"/>
    </inertial>
  </link>
  <joint name="joint3" type="revolute">
    <parent link="link2"/>
    <child link="link3"/>
    <origin rpy="0 0 0" xyz="0.0535 -0.2845 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="32.0" lower="-3.927" upper="0.19198" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link4">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link4.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="-0.00021 0.02578 -0.02538"/>
      <mass value="1.115"/>
      <inertia ixx="0.00439263" ixy="5.028E-05" ixz="1.374E-05" iyy="0.0040077" iyz="0.00045338" izz="0.00110321"/>
    </inertial>
  </link>
  <joint name="joint4" type="revolute">
    <parent link="link3"/>
    <child link="link4"/>
    <origin rpy="-1.5708 0 0" xyz="0.0775 0.3425 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="32.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link5">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="White"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link5.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0.05428 0.01781 0.00543"/>
      <mass value="1.275"/>
      <inertia ixx="0.001202758" ixy="0.000492428" ixz="-0.00039147" iyy="0.0022876" iyz="-1.235E-04" izz="0.0026866"/>
    </inertial>
  </link>
  <joint name="joint5" type="revolute">
    <parent link="link4"/>
    <child link="link5"/>
    <origin rpy="1.5708 0 0" xyz="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="32.0" lower="-1.69297" upper="3.141592653589793" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <link name="link6">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/xarm6/visual/link6.stl"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <material name="Silver"/>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/collision/end_tool.STL"/>
      </geometry>
      <origin rpy="0 0 0" xyz="0 0 0"/>
    </collision>
    <inertial>
      <origin rpy="0 0 0" xyz="0 0.00064 -0.00952"/>
      <mass value="0.1096"/>
      <inertia ixx="4.5293E-05" ixy="0" ixz="0" iyy="4.8111E-05" iyz="0" izz="7.9715E-05"/>
    </inertial>
  </link>
  <joint name="joint6" type="revolute">
    <parent link="link5"/>
    <child link="link6"/>
    <origin rpy="-1.5708 0 0" xyz="0.076 0.097 0"/>
    <axis xyz="0 0 1"/>
    <limit effort="20.0" lower="-6.283185307179586" upper="6.283185307179586" velocity="3.14"/>
    <dynamics damping="1.0" friction="1.0"/>
  </joint>
  <!--
  Author: <lechenzhang@xii.ac.cn>
  Contributers:
-->
  <link name="mechmind_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0025178 1.6652E-09 0.028443"/>
      <mass value="0.31715"/>
      <inertia ixx="0.00054859" ixy="1.3906E-12" ixz="1.6053E-07" iyy="0.00027591" iyz="7.5754E-12" izz="0.00027399"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://xarm_description/meshes/mechmind_link.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.64706 0.61961 0.58824 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://xarm_description/meshes/mechmind_link.STL"/>
      </geometry>
    </collision>
  </link>
  <link name="mechmind_cam">
    <inertial>
      <origin rpy="0 0 0" xyz="0.040215 -0.00071329 0.095906"/>
      <mass value="0.7"/>
      <inertia ixx="0.00099599" ixy="3.9803E-06" ixz="-3.3097E-06" iyy="0.00038002" iyz="2.3411E-07" izz="0.0012403"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://xarm_description/meshes/mechmind_cam.STL"/>
      </geometry>
      <material name="">
        <color rgba="0.79216 0.81961 0.93333 1"/>
      </material>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="package://xarm_description/meshes/mechmind_cam.STL"/>
      </geometry>
    </collision>
  </link>
  <joint name="mechmind_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="mechmind_link"/>
    <child link="mechmind_cam"/>
    <axis xyz="0 1 0"/>
  </joint>
  <!-- camera depth joints and links -->
  <joint name="mechmind_depth_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0 0"/>
    <parent link="mechmind_link"/>
    <child link="mechmind_depth_frame"/>
  </joint>
  <link name="mechmind_depth_frame"/>
  <joint name="mechmind_depth_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="mechmind_depth_frame"/>
    <child link="mechmind_depth_optical_frame"/>
  </joint>
  <link name="mechmind_depth_optical_frame"/>
  <!-- camera left IR joints and links -->
  <joint name="mechmind_left_ir_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.0 0"/>
    <parent link="mechmind_depth_frame"/>
    <child link="mechmind_left_ir_frame"/>
  </joint>
  <link name="mechmind_left_ir_frame"/>
  <joint name="mechmind_left_ir_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="mechmind_left_ir_frame"/>
    <child link="mechmind_left_ir_optical_frame"/>
  </joint>
  <link name="mechmind_left_ir_optical_frame"/>
  <!-- camera right IR joints and links -->
  <joint name="mechmind_right_ir_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 -0.05 0"/>
    <parent link="mechmind_depth_frame"/>
    <child link="mechmind_right_ir_frame"/>
  </joint>
  <link name="mechmind_right_ir_frame"/>
  <joint name="mechmind_right_ir_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="mechmind_right_ir_frame"/>
    <child link="mechmind_right_ir_optical_frame"/>
  </joint>
  <link name="mechmind_right_ir_optical_frame"/>
  <!-- camera color joints and links -->
  <joint name="mechmind_color_joint" type="fixed">
    <origin rpy="0 0 0" xyz="0 0.015 0"/>
    <parent link="mechmind_depth_frame"/>
    <child link="mechmind_color_frame"/>
  </joint>
  <link name="mechmind_color_frame"/>
  <joint name="mechmind_color_optical_joint" type="fixed">
    <origin rpy="-1.5707963267948966 0 -1.5707963267948966" xyz="0 0 0"/>
    <parent link="mechmind_color_frame"/>
    <child link="mechmind_color_optical_frame"/>
  </joint>
  <link name="mechmind_color_optical_frame"/>
  <!-- gazebo plugin -->
  <gazebo reference="mechmind_link">
    <self_collide>0</self_collide>
    <enable_wind>0</enable_wind>
    <kinematic>0</kinematic>
    <gravity>1</gravity>
    <mu2>1</mu2>
    <fdir1>0 0 0</fdir1>
    <kp>1e+13</kp>
    <kd>1</kd>
    <sensor name="mechmind_color" type="camera">
      <camera name="mechmind">
        <horizontal_fov>0.7028440897781165</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>RGB_INT8</format>
        </image>
        <clip>
          <near>0.1</near>
          <far>1.0</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.007</stddev>
        </noise>
      </camera>
      <always_on>1</always_on>
      <update_rate>30</update_rate>
      <visualize>1</visualize>
    </sensor>
    <sensor name="mechmind_ired1" type="camera">
      <camera name="mechmind">
        <horizontal_fov>0.7028440897781165</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>L_INT8</format>
        </image>
        <clip>
          <near>0.3</near>
          <far>0.6</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.05</stddev>
        </noise>
      </camera>
      <always_on>0</always_on>
      <update_rate>90</update_rate>
      <visualize>0</visualize>
    </sensor>
    <sensor name="mechmind_ired2" type="camera">
      <camera name="mechmind">
        <horizontal_fov>0.7028440897781165</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
          <format>L_INT8</format>
        </image>
        <clip>
          <near>0.3</near>
          <far>0.6</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.05</stddev>
        </noise>
      </camera>
      <always_on>0</always_on>
      <update_rate>90</update_rate>
      <visualize>0</visualize>
    </sensor>
    <sensor name="mechmind_depth" type="depth">
      <camera name="mechmind">
        <horizontal_fov>0.7028440897781165</horizontal_fov>
        <image>
          <width>1280</width>
          <height>1024</height>
        </image>
        <clip>
          <near>0.1</near>
          <far>1.0</far>
        </clip>
        <noise>
          <type>gaussian</type>
          <mean>0.0</mean>
          <stddev>0.100</stddev>
        </noise>
      </camera>
      <always_on>1</always_on>
      <update_rate>90</update_rate>
      <visualize>0</visualize>
    </sensor>
  </gazebo>
  <gazebo>
    <plugin filename="librealsense_gazebo_plugin.so" name="mechmind">
      <prefix>mechmind_</prefix>
      <depthUpdateRate>10</depthUpdateRate>
      <colorUpdateRate>10</colorUpdateRate>
      <infraredUpdateRate>10</infraredUpdateRate>
      <depthTopicName>depth/image_raw</depthTopicName>
      <depthCameraInfoTopicName>depth/camera_info</depthCameraInfoTopicName>
      <colorTopicName>color/image_raw</colorTopicName>
      <colorCameraInfoTopicName>color/camera_info</colorCameraInfoTopicName>
      <infrared1TopicName>infra1/image_raw</infrared1TopicName>
      <infrared1CameraInfoTopicName>infra1/camera_info</infrared1CameraInfoTopicName>
      <infrared2TopicName>infra2/image_raw</infrared2TopicName>
      <infrared2CameraInfoTopicName>infra2/camera_info</infrared2CameraInfoTopicName>
      <colorOpticalframeName>mechmind_color_optical_frame</colorOpticalframeName>
      <depthOpticalframeName>mechmind_depth_optical_frame</depthOpticalframeName>
      <infrared1OpticalframeName>mechmind_infrared1_optical_frame</infrared1OpticalframeName>
      <infrared2OpticalframeName>mechmind_infrared2_optical_frame</infrared2OpticalframeName>
      <rangeMinDepth>0.1</rangeMinDepth>
      <rangeMaxDepth>10.0</rangeMaxDepth>
      <pointCloud>true</pointCloud>
      <pointCloudTopicName>depth/color/points</pointCloudTopicName>
      <pointCloudCutoff>0.0</pointCloudCutoff>
      <pointCloudCutoffMax>9.0</pointCloudCutoffMax>
    </plugin>
  </gazebo>
  <link name="welding_torch">
    <visual>
      <geometry>
        <mesh filename="package://xarm_description/meshes/torch.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0"/>
      <material name="torch1">
        <color rgba="0.1 0.1 0.5 1.0"/>
      </material>
    </visual>
    <collision>
      <geometry>
        <mesh filename="package://xarm_description/meshes/torch.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <origin rpy="0 0 -1.5707963267948966" xyz="0 0 0"/>
    </collision>
  </link>
  <joint name="torch_to_mechmind" type="fixed">
    <parent link="mechmind_link"/>
    <child link="welding_torch"/>
    <origin rpy="1.5707963267948966 0 0" xyz="0.15 0 0"/>
  </joint>
  <joint name="xarm_mechmind_link" type="fixed">
    <origin rpy="3.1415926 -1.570796 0" xyz="0 0 0"/>
    <parent link="link6"/>
    <child link="mechmind_link"/>
  </joint>
  <!--   <xacro:unless value="${rs_d435i}">
    <link name="${prefix}link_eef"/>
  </xacro:unless>

  <joint
    name="${prefix}joint_eef"
    type="fixed">
    <origin
      xyz="0 0 0"
      rpy="0 0 0" />
    <parent
      link="${prefix}link6" />
    <child
      link="${prefix}link_eef" />
  </joint> -->
  <joint name="calibration_target_joint" type="fixed">
    <parent link="link_base"/>
    <child link="calibration_target_link"/>
    <origin rpy="0 0 0" xyz="1.3 0 0.5"/>
  </joint>
  <link name="calibration_target_link">
    <visual>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/paul/catkin_ws/src/xarm_sim/xarm_description/meshes/calibration_target.dae"/>
      </geometry>
    </visual>
    <collision>
      <origin rpy="0 1.57 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="file:///home/paul/catkin_ws/src/xarm_sim/xarm_description/meshes/calibration_target.dae"/>
      </geometry>
    </collision>
    <!-- for simulation -->
    <inertial>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <mass value="0.1"/>
      <inertia ixx="0.3" ixy="0.0" ixz="0.0" iyy="0.3" iyz="0.0" izz="0.3"/>
    </inertial>
    <!-- end for simulation -->
  </link>
  <transmission name="tran1">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor1">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>100</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran2">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint2">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor2">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>100</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran3">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>100</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran4">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint4">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor3">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>100</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran5">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint5">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor5">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>100</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="tran6">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="joint6">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
    </joint>
    <actuator name="motor6">
      <hardwareInterface>hardware_interface/PositionJointInterface</hardwareInterface>
      <mechanicalReduction>100</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo reference="link_base">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link1">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link2">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link3">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link4">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link5">
    <selfCollide>true</selfCollide>
  </gazebo>
  <gazebo reference="link6">
    <selfCollide>true</selfCollide>
  </gazebo>
</robot>

Is it caused by the using of relative path for the mesh files?

HoangGiang93 commented 1 year ago

Did you source the workspace before running blender?

aiolosgs commented 1 year ago

Yes, I think the ros environment is set correctly. It seems the code for importing got stuck somewhere and the blender had no response.

HoangGiang93 commented 1 year ago

I see, well currently my urdf_importer only accept the path like <mesh filename="package://<ros_package>/mesh.dae"/>, the path as absolute path is not supported yet. You could change the path to relative to a ros package to make it run. The reason why it got stuck is because it couldn't find the package so it keeps searching forever. I will fix that soon.

aiolosgs commented 1 year ago

Yes, that's the reason, I found the code went into an infinite loop because I use file:// for filename. I cnanged it to a relative path using package://. Thanks a lot!