Closed kschyschtov closed 3 years ago
Hello, Is it possible for you to share your model with me so that I can investigate ? With the new version, is it only the visualisation which is faulty or the dynamics as well ?
Thanks for the prompt response. Not to share the link publicly, I sent it to your email.
The correctly generated link in urdf looks like this:
<link name="blmarm_-_wagon">
<visual>
<origin xyz="-0.464 0 -9.4168e-12" rpy="0 -0 0" />
<geometry>
<mesh filename="package://blmarm_-_wagon.stl"/>
</geometry>
<material name="blmarm_-_wagon_material">
<color rgba="0.498039 0.498039 0.498039 1.0"/>
</material>
</visual>
<collision>
<origin xyz="-0.464 0 -9.4168e-12" rpy="0 -0 0" />
<geometry>
<mesh filename="package://blmarm_-_wagon.stl"/>
</geometry>
<material name="blmarm_-_wagon_material">
<color rgba="0.498039 0.498039 0.498039 1.0"/>
</material>
</collision>
<inertial>
<origin xyz="-0.499096 -0.06075 -0.240905" rpy="0 0 0"/>
<mass value="232.515" />
<inertia ixx="98.2496" ixy="-1.36888" ixz="0.430951" iyy="4.46862" iyz="-0.572012" izz="96.6398" />
</inertial>
</link>
while the newest version generates this:
<link name="blmarm_-_wagon">
<inertial>
<origin xyz="0 0 0" rpy="0 0 0"/>
<mass value="0" />
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0" />
</inertial>
</link>
I investigated and found the origin of the problem, I will come back to you when this is fixed (there is something inconsistent in Onshape API, so I need to talk with them before)
I did a fix so that v3.0.10
should work for you, but I still need to understand why
(The partId
can contain slashes /
which need to be escaped for some API words and not others)
If it helps, I also had this issue just after trying the version that solved issue #46
Thanks for looking into it.
I upgraded the onshape-to-robot with command
python3 -m pip install --upgrade onshape-to-robot
and it installed onshape-to-robot-0.3.10.
But unfortunately, there is still the same problem with the part without the link to STL file nor other properties related to shape.
Hello
Indeed the STL API word also requires no escaping for slashes
Can you try v0.3.11
? :-)
Still the same ;)
With current build I can load this in pyBullet, even if it is highly unstable:
This isn't working for you ?
It still generates the wagon link with zeros. I uninstalled and installed again the newest version, the same. Should I do anything else to update?
Try to clear your cache with onshape-to-robot-clear-cache
and delete STL files if they exist and are empty
Yes! Clearing cache helped. It seems to generate correctly now, thanks!
Ok, great! I'll close this, don't hesitate to re-open or create another issue later
Hello, Last year in December I generated correctly the urdf from my onshape model which contained faulty topology (although it looks good visually). The newest version of onshape-to-robot that I tried a few days ago shows a problem: WARNING: part X has no dynamics (maybe it is a surface). It creates the urdf file but without linking to an stl model. I generated again a correct urdf with v.0.3.4 so definitely something changed between the newest and that version. I am not sure if this behaviour was desired but at least it prevents me from using the newest version because I cannot change the imported model in onshape and I cannot find what causes the faulty topology.