Discrepancy in relative pose between visual and collision meshes between drake and non-drake tools

siddancha commented 2 weeks ago

I'm looking at the 010_potted_meat_can_textured model, where I converted the SDF into a URDF.

Drake: When I view the URDF in the Drake visualizer, the visual and collision meshes are aligned.
```
unzip 010_potted_meat_can_textured.zip -d files
python3 -m pydrake.visualization.model_visualizer files/010_potted_meat_can_textured.urdf
```
In Drake, visual and collision geometries are aligned
Other tools: When using other open source tools to visualize the URDF, such as trimesh and a web URDF viewer, the two are not aligned:
- To reproduce, drag all unzipped files into the web URDF viewer.
In non-drake tools, visual and collision geometries are mis-aligned

jwnimmer-tri commented 2 weeks ago

One suggestion: make sure the other tools know that glTF meshes use a y-up coordinate system, whereas OBJ meshes are typically understood to be z-up.

siddancha commented 2 weeks ago

Thanks! That might be the issue.

RobotLocomotion / models