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NVlabs / curobo

CUDA Accelerated Robot Library
https://curobo.org
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CuRobo loads unscaled meshes #79

Closed waldezjr closed 11 months ago

waldezjr commented 11 months ago

After adding a mesh file to the World Configuration, CuRobo effectively loads the unscaled mesh.

  1. cuRobo installation mode (choose from [python, isaac sim, docker python, docker isaac sim]): python
  2. python version: 3.10
  3. Isaac Sim version (if using):

Issue Details

I tried adding a simple sphere mesh through a yml file sphMesh: pose: [0.0, 0, 0.15, 1, 0, 0, 0] scale: [0.005, 0.005, 0.005] file_path: "sphere_mesh.obj"

And loading it as in the script below

with open(model.config["curoboConfig"]["worldYmlPath"]) as file_p:
            worldCfg = yaml.load(file_p, Loader=Loader)
world_model = WorldConfig.from_dict(worldCfg)
world_model.save_world_as_mesh("debugMesh.obj")

But when I load the debugMesh.obj file in a 3rd party viewer I verify that the object, as seen by CuRobo, is not scaled.

ps.: It is not a major issue, but it may be useful to solve it eventually

balakumar-s commented 11 months ago

Thanks for catching this. Internally, the mesh was actually being scaled but when exporting the world model, the scaling was not being applied. This has been fixed in the latest commit.