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OSU-AIMS / paper-glider

Sample program for using a 6-axis robotic arm to launch a paper glider
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Unable to load Mesh Files into Moveit Scene #1

Open acbuynak opened 3 years ago

acbuynak commented 3 years ago

Having issues loading mesh files into the Moveit Scene Planner. Files formats accepted include: STL and DAE. Both attempted.

Code: self.scene.add_mesh(self.glider_name, glider_pose, filename="$(find paper-glider)/meshes/glider-model.stl", size=(1,1,1))

Traceback:

Traceback (most recent call last):
  File "/home/a/_DEV/ws_paperGlider/src/paper-glider/scripts/paper-glider.py", line 488, in <module>
    main()
  File "/home/a/_DEV/ws_paperGlider/src/paper-glider/scripts/paper-glider.py", line 464, in main
    robot.add_glider()
  File "/home/a/_DEV/ws_paperGlider/src/paper-glider/scripts/paper-glider.py", line 406, in add_glider
    self.scene.add_mesh(self.glider_name, glider_pose, filename="$(find paper-glider)/meshes/glider-model.stl", size=(1,1,1))
  File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/planning_scene_interface.py", line 98, in add_mesh
    co = self.__make_mesh(name, pose, filename, size)
  File "/opt/ros/melodic/lib/python2.7/dist-packages/moveit_commander/planning_scene_interface.py", line 244, in __make_mesh
    scene = pyassimp.load(filename)
  File "/usr/lib/python2.7/dist-packages/pyassimp/core.py", line 318, in load
    raise AssimpError('Could not import file!')
pyassimp.errors.AssimpError: Could not import file!
acbuynak commented 3 years ago

Source Code for Moveit Commander http://docs.ros.org/en/melodic/api/moveit_commander/html/classmoveit__commander_1_1planning__scene__interface_1_1PlanningSceneInterface.html#af57e2069f27f667144fa721c7ef8e5b6

Tutorial by Danfoa: Adding Dynamic Mesh Collision Objects (C++) https://github.com/Danfoa/invite-robotics/wiki/Tutorial---Simulation-Scene-Objects

Attaching Object to Robot http://docs.ros.org/en/indigo/api/moveit_tutorials/html/doc/pr2_tutorials/planning/src/doc/planning_scene_ros_api_tutorial.html#attach-an-object-to-the-robot

acbuynak commented 3 years ago

Using MoveIt Planning Plugin.. Able to Scene objects using "Scene Objects" Tab > Add/Remove Scene Objects > "From Mesh File"

image

ADIMADE commented 2 years ago

I am facing the same issue:( Have you found a solution allready?