jaco urdf does not visualizer properly in meshcat

RobotLocomotion / drake

Model-based design and verification for robotics.

https://drake.mit.edu

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jaco urdf does not visualizer properly in meshcat #13846

Closed RussTedrake closed 4 years ago

RussTedrake commented 4 years ago

meshcat

This is true for both drake/manipulation/models/jaco_description/urdf/j2s7s300_sphere_collision.urdf and drake/manipulation/models/jaco_description/urdf/j2s7s300.urdf. Presumably there is some scale getting mis-handled somewhere in the pipeline?

@sammy-tri -- might you take a look?

RussTedrake commented 4 years ago

I can reproduce it with

./bazel-bin/manipulation/util/geometry_inspector /Users/russt/drake-install/share/drake/manipulation/models/jaco_description/urdf/j2s7s300.urdf --meshcat

(this will open meshcat in a different viewer).

Side comments:

show_model doesn't appear to work well with a meshcat that is opened by the app. it renders a blank screen.
It was not clear how to use show_model and friends with resources that were fetched from RobotLocomotion/models. When I ran it pointing to the jaco file in the source tree, it complained about missing mesh files.

RussTedrake commented 4 years ago

interestingly, it seems that the pyplot visualizer falls over, as well.

./bazel-bin/manipulation/util/geometry_inspector /Users/russt/drake-install/share/drake/manipulation/models/jaco_description/urdf/j2s7s300.urdf --pyplot

RussTedrake commented 4 years ago

@gizatt -- fyi, if you are willing to take a look.

gizatt commented 4 years ago

Problem seems to be the handling of zero-radius spheres (which is the visual geometry given to the base + some other placeholder bodies). Easy fix in both cases -- I'll open a PR.