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RobotLocomotion / drake

Model-based design and verification for robotics.
https://drake.mit.edu
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Visualizer crashes when loading some VRML files (*.wrl) #186

Closed robodreamer closed 10 years ago

robodreamer commented 10 years ago

I was trying to load hubo model in the visualizer by modifying "drawPR2" example. I found out that the wrl files for Hubo (in dev/hubo/models/wrl) cause the visualizer to crash without displaying the robot. The same urdf file with other wrl files (e.g. for atlas robot) worked. I first thought that the number of faces/vertices maybe too many, but even after simplification, I can't make it displayed. Can you help? Thanks!

RussTedrake commented 10 years ago

The visualizer definitely should not crash. If you could please send the simplest example of it crashing, then we will resolve that.

The botvis visualizer loads obj files (if a wrl is written in the urdf, it tries to find an obj of the same name, otherwise should fail gracefully) and simulink 3d animation visualizer loads wrl.

The Hubo model in the dev directory is out if date (that's why it's in dev). We have an updated version. If you shoot me an email, we can discuss whether it makes sense to share it.

On Jun 19, 2014, at 3:50 PM, Andy Park notifications@github.com wrote:

I was trying to load hubo model in the visualizer by modifying "drawPR2" example. I found out that the wrl files for Hubo (in dev/hubo/models/wrl) cause the visualizer to crash without displaying the robot. The same urdf file with other wrl files (e.g. for atlas robot) worked. I first thought that the number of faces/vertices maybe too many, but even after simplification, I can't make it displayed. Can you help? Thanks!

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robodreamer commented 10 years ago

Dr. Tedrake, I guess the problem was that I didn't have the models in obj formats. I thought the visualizer will read the same format as the urdf. I will try to convert the model files to obj (if I can) and try it again. Thanks, I will email you about the updated model of Hubo. :)

RussTedrake commented 10 years ago

Meshlab is the free tool to use for converting formats

On Jun 19, 2014, at 9:04 PM, Andy Park notifications@github.com wrote:

Dr. Tedrake, I guess the problem was that I didn't have the models in obj formats. I thought the visualizer will read the same format as the urdf. I will try to convert the model files to obj (if I can) and try it again. Thanks, I will email you about the updated model of Hubo. :)

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robodreamer commented 10 years ago

Thanks, I just converted them. Finally hubo model showed up! However, hubo penetrates the ground. Is there any parameters in the model that I need to set in order for it to have ground reaction forces from the floor?

image

The updated Hubo examples will be greatly appreciated if you can share them!

robodreamer commented 10 years ago

In fact, I ran the "runPassive" example and I found out the Hubo fell through the floor.

robodreamer commented 10 years ago

For converting mesh files, I found a very useful tool: http://www.cs.princeton.edu/~min/meshconv/

I could convert mesh files in batch using this software.

RussTedrake commented 10 years ago

You need to add collision geometry, and then load the robot as a TimeSteppingRigidBodyManipulator (not just a RigidBodyManipulator).

The RigidBodyManipulator class would warn you about this, unless you copied the "warning off" lines from an example, too.

On Jun 19, 2014, at 9:40 PM, Andy Park notifications@github.com wrote:

In fact, I ran the "runPassive" example and I found out the Hubo fell through the floor.

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RussTedrake commented 10 years ago

good to know. thank you On Jun 19, 2014, at 10:39 PM, Andy Park notifications@github.com wrote:

For converting mesh files, I found a very useful tool: http://www.cs.princeton.edu/~min/meshconv/

I could convert mesh files in batch using this software.

— Reply to this email directly or view it on GitHub.