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Kinovarobotics / ros_kortex

ROS packages for KINOVA® KORTEX™ robotic arms
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GEN3-LITE.urdf filenames incorrect #308

Open willxxy opened 10 months ago

willxxy commented 10 months ago

Description

The filenames for each mesh file is incorrect in the urdf file when trying to open in Isaac Gym

Version

ROS distribution :

Branch and commit you are using : kinetic-devel

Steps to reproduce

  1. step 1...
  2. step 2...

Code example (if necessary)

This should be the correct link based on the repo. 

<robot name="KR7108-URDF" version="1.0">
  <link name="BASE">
    <inertial>
      <origin xyz="0.00244324 0.00015573 0.08616742" rpy="0 0 0" />
      <mass value="1.14608471" />
      <inertia ixx="0.00335854" ixy="3.9E-07" ixz="0.00010989" iyy="0.003311" iyz="1.91E-06" izz="0.00077158" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/base_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link name="SHOULDER">
    <inertial>
      <origin xyz="2.477E-05 0.02213531 0.09937686" rpy="0 0 0" />
      <mass value="0.95974404" />
      <inertia ixx="0.00165947" ixy="2E-08" ixz="3.6E-07" iyy="0.00140355" iyz="0.00034927" izz="0.00089493" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/shoulder_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/shoulder_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J0" type="revolute">
    <origin xyz="0 0 0.12825" rpy="0 0 0" />
    <parent link="BASE" />
    <child link="SHOULDER" />
    <axis xyz="0 0 1" />
    <limit lower="-2.76" upper="2.76" effort="10" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="ARM">
    <inertial>
      <origin xyz="0.02998299 0.21154808 0.0453031" rpy="0 0 0" />
      <mass value="1.17756164" />
      <inertia ixx="0.01149277" ixy="1E-06" ixz="1.6E-07" iyy="0.00102851" iyz="0.00140765" izz="0.01133492" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/arm_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/arm_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J1" type="revolute">
    <origin xyz="0 -0.03 0.115" rpy="1.5708 0 0" />
    <parent link="SHOULDER" />
    <child link="ARM" />
    <axis xyz="0 0 1" />
    <limit lower="-2.76" upper="2.76" effort="14" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="FOREARM">
    <inertial>
      <origin xyz="0.0301559 0.09502206 0.0073555" rpy="0 0 0" />
      <mass value="0.59767669" />
      <inertia ixx="0.00163256" ixy="7.11E-06" ixz="1.54E-06" iyy="0.00029798" iyz="9.587E-05" izz="0.00169091" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/forearm_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/forearm_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J2" type="revolute">
    <origin xyz="0 0.28 0" rpy="-3.1416 0 0" />
    <parent link="ARM" />
    <child link="FOREARM" />
    <axis xyz="0 0 1" />
    <limit lower="-2.76" upper="2.76" effort="10" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="LOWER_WRIST">
    <inertial>
      <origin xyz="0.00575149 0.01000443 0.08719207" rpy="0 0 0" />
      <mass value="0.52693412" />
      <inertia ixx="0.00069098" ixy="2.4E-07" ixz="0.00016483" iyy="0.00078519" iyz="7.4E-07" izz="0.00034115" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/lower_wrist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/lower_wrist_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J3" type="revolute">
    <origin xyz="0 -0.14 0.02" rpy="1.5708 0 0" />
    <parent link="FOREARM" />
    <child link="LOWER_WRIST" />
    <axis xyz="0 0 1" />
    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="UPPER_WRIST">
    <inertial>
      <origin xyz="0.08056517 0.00980409 0.01872799" rpy="0 0 0" />
      <mass value="0.58097325" />
      <inertia ixx="0.00021268" ixy="5.21E-06" ixz="2.91E-06" iyy="0.00106371" iyz="1.1E-07" izz="0.00108465" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/upper_wrist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/upper_wrist_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J4" type="revolute">
    <origin xyz="0.0285 0 0.105" rpy="0 1.5708 0" />
    <parent link="LOWER_WRIST" />
    <child link="UPPER_WRIST" />
    <axis xyz="0 0 1" />
    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="END_EFFECTOR"/>
  <joint name="J5" type="revolute">
    <origin xyz="-0.105 0 0.0285" rpy="0 -1.5708 0" />
    <parent link="UPPER_WRIST" />
    <child link="END_EFFECTOR" />
    <axis xyz="0 0 1" />
    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="DUMMY" />
  <joint name="END_EFFECTOR" type="fixed">
    <origin xyz="0 0 0.13" rpy="0 0 0" />
    <parent link="END_EFFECTOR" />
    <child link="DUMMY" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
</robot>

Expected behavior

Describe the expected behavior (in regard to the bug described above).

Any other information

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