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Unity-Technologies / URDF-Importer

URDF importer
Apache License 2.0
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URDF Robot Base Joint Falls or Falls Apart #134

Closed Pterodactylus closed 3 years ago

Pterodactylus commented 3 years ago

Describe the bug When I import a generic URDF file the link above the base link falls through the simulation or falls off to the side. I've replicated this with more than one urdf file. Any help would be appreciated.

To Reproduce Steps to reproduce the behavior:

  1. Create a new blank scene
  2. Go to attached pi_robot.urdf file and import the robot as per the normal instructions
  3. Click the play button to start the scene

Expected behavior Robot should hold together link in the scene window. image

Actual undesired behavior Robot falls through the base link like this. image

Environment (please complete the following information, where applicable):

URDF File `

<!-- * * * Link Definitions * * * -->

<link name="base_link">
    <visual>
        <origin xyz="0 0 0.0425" rpy="0 0 0"/>
        <geometry>
            <box size="0.32 0.26 0.085"/>
        </geometry>
        <material name="Cyan1">
            <color rgba="0 0.9 0.9 1.0"/>
        </material>
    </visual>   
</link>

<link name="base_laser">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.025" length="0.07"/>
        </geometry>
        <material name="Black1">
            <color rgba="0.2 0.2 0.2 1.0"/>
        </material>
    </visual>   
</link>

<link name="cpu_link">
    <visual>
        <origin xyz="0 0 0.035" rpy="0 0 0"/>
        <geometry>
            <box size="0.19 0.19 0.07"/>
        </geometry>
        <material name="Cyan2">
            <color rgba="0 0.7 0.7 1.0"/>
        </material>
    </visual>   
</link>

<link name="upper_base_link">
    <visual>
        <origin xyz="0 0 0.05" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.085" length="0.10"/>
        </geometry>
        <material name="Cyan3">
            <color rgba="0 0.5 0.5 0"/>
        </material>
   </visual>
</link>

<link name="torso_link">
    <visual>
        <origin xyz="0 0 0.12" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.05" length="0.24"/>
        </geometry>
        <material name="Yellow2">
            <color rgba="0.8 0.8 0 1.0"/>
        </material>
   </visual>
</link>

<link name="head_pan_link">
    <visual>
        <origin xyz="0 0 0.0225" rpy="0 0 0"/>
        <geometry>
            <box size="0.05 0.045 0.045"/>
        </geometry>
        <material name="Green1">
            <color rgba="0 1 0 1.0"/>
        </material>
   </visual>
</link>

<link name="head_tilt_link">
    <visual>
        <origin xyz="0 0 0.02" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.038 0.04"/>
        </geometry>
        <material name="Green2">
            <color rgba="0.1 0.8 0 1.0"/>
        </material>
   </visual>
</link>

<link name="neck_link">
    <visual>
        <origin xyz="0 0 0.021" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.042"/>
        </geometry>
        <material name="Green3">
            <color rgba="0.1 0.5 0.1 1.0"/>
        </material>
   </visual>
</link>

<link name="head_link">
    <visual>
        <origin xyz="0 0 0.025" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.07 0.11"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>
<link name="antenna_link">
    <visual>
        <origin xyz="0 0 0.035" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.002" length="0.05"/>
        </geometry>
        <material name="Grey3">
            <color rgba="0.8 0.8 0.8 1.0"/>
        </material>
   </visual>
</link>

<link name="left_shoulder_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.025 0.015 0.05"/>
        </geometry>
        <material name="Green1">
            <color rgba="0 1 0 1.0"/>
        </material>
   </visual>
</link>

<link name="right_shoulder_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.025 0.015 0.05"/>
        </geometry>
        <material name="Green1">
            <color rgba="0 1 0 1.0"/>
        </material>
   </visual>
</link>

<link name="left_shoulder_forward_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.03"/>
        </geometry>
        <material name="Blue1">
            <color rgba="0 0 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="right_shoulder_forward_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.03"/>
        </geometry>
        <material name="Blue1">
            <color rgba="0 0 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="left_shoulder_up_link">
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.03"/>
        </geometry>
        <material name="Blue2">
            <color rgba="0 0 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="right_shoulder_up_link">
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.03"/>
        </geometry>
        <material name="Blue2">
            <color rgba="0 0 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="left_upper_arm_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.0075" length="0.05"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="right_upper_arm_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.0075" length="0.05"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="left_elbow_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 1.57"/>
        <geometry>
            <box size="0.035 0.035 0.05"/>
        </geometry>
        <material name="Blue2">
            <color rgba="0 0 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="right_elbow_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 1.57"/>
        <geometry>
            <box size="0.035 0.035 0.05"/>
        </geometry>
        <material name="Blue2">
            <color rgba="0 0 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="left_lower_arm_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.0075" length="0.11"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="right_lower_arm_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <cylinder radius="0.0075" length="0.11"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>

<link name="left_wrist_link">
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.03"/>
        </geometry>
        <material name="Blue2">
            <color rgba="0 0 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="right_wrist_link">
    <visual>
        <origin xyz="0 0 0" rpy="1.57 0 0"/>
        <geometry>
            <box size="0.03 0.05 0.03"/>
        </geometry>
        <material name="Blue2">
            <color rgba="0 0 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="left_hand_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.01 0.06"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.7 0.7 0.7 1.0"/>
        </material>
   </visual>
</link>

<link name="right_hand_link">
    <visual>
        <origin xyz="0 0 0" rpy="0 0 0"/>
        <geometry>
            <box size="0.03 0.01 0.06"/>
        </geometry>
        <material name="Grey1">
            <color rgba="0.9 0.9 0.9 1.0"/>
        </material>
   </visual>
</link>

<!-- * * * Joint Definitions * * * -->

<joint name="cpu_joint" type="fixed">
    <parent link="base_link"/>
    <child link="cpu_link"/>
    <origin xyz="0.025 0 0.085" rpy="0 0 0"/>
</joint>

<joint name="base_laser_joint" type="fixed">
    <parent link="base_link"/>
    <child link="base_laser"/>
    <origin xyz="0.18 0 0.07" rpy="0 0 0"/>
</joint>

<joint name="upper_base_joint" type="fixed">
    <parent link="cpu_link"/>
    <child link="upper_base_link"/>
    <origin xyz="0 0 0.07" rpy="0 0 0"/>
</joint>

<joint name="torso_joint" type="revolute">
    <parent link="upper_base_link"/>
    <child link="torso_link"/>
    <origin xyz="0 0 0.10" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1416" upper="3.1416" effort="10" velocity="3"/>
</joint>

<joint name="head_pan_servo" type="fixed">
    <parent link="torso_link"/>
    <child link="head_pan_link"/>
    <origin xyz="0 0 0.225" rpy="0 0 0"/>
</joint>

<joint name="head_pan_joint" type="revolute">
    <parent link="head_pan_link"/>
    <child link="head_tilt_link"/>
    <origin xyz="0 0 0.045" rpy="0 0 0"/>
    <axis xyz="0 0 1"/>
    <limit lower="-3.1416" upper="3.1416" effort="10" velocity="3"/>
</joint>

<joint name="head_tilt_joint" type="revolute">
    <parent link="head_tilt_link"/>
    <child link="neck_link"/>
    <origin xyz="0 0 0.04" rpy="0 0 0"/>
    <axis xyz="0 1 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
</joint>

<joint name="neck_joint" type="fixed">
    <parent link="neck_link"/>
    <child link="head_link"/>
    <origin xyz="0.05 0 0.015" rpy="0 0 0"/>
</joint>
<joint name="antenna_joint" type="fixed">
    <parent link="head_link"/>
    <child link="antenna_link"/>
    <origin xyz="0.0 -0.025 0.065" rpy="0 0 0"/>
</joint>

<joint name="left_shoulder_joint" type="fixed">
    <parent link="torso_link"/>
    <child link="left_shoulder_link"/>
    <origin xyz="0 0.055 0.165" rpy="0 0 0"/>
</joint>

<joint name="right_shoulder_joint" type="fixed">
    <parent link="torso_link"/>
    <child link="right_shoulder_link"/>
    <origin xyz="0 -0.055 0.165" rpy="0 0 0"/>
</joint>

<joint name="left_shoulder_forward_joint" type="revolute">
    <parent link="left_shoulder_link"/>
    <child link="left_shoulder_forward_link"/>
    <origin xyz="0 0.025 0" rpy="0 0 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
    <axis xyz="0 0 1"/>
</joint>

<joint name="right_shoulder_forward_joint" type="revolute">
    <parent link="right_shoulder_link"/>
    <child link="right_shoulder_forward_link"/>
    <origin xyz="0 -0.025 0" rpy="0 0 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
    <axis xyz="0 0 1"/>
</joint>

<joint name="left_shoulder_up_joint" type="revolute">
    <parent link="left_shoulder_forward_link"/>
    <child link="left_shoulder_up_link"/>
    <origin xyz="0 0.04 -0.01" rpy="0 -0.707 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
    <axis xyz="0 1 0"/>
</joint>

<joint name="right_shoulder_up_joint" type="revolute">
    <parent link="right_shoulder_forward_link"/>
    <child link="right_shoulder_up_link"/>
    <origin xyz="0 -0.04 -0.01" rpy="0 -0.707 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
    <axis xyz="0 1 0"/>
</joint>

<joint name="left_upper_arm_joint" type="fixed">
    <parent link="left_shoulder_up_link"/>
    <child link="left_upper_arm_link"/>
    <origin xyz="0 0 -0.05" rpy="0 0 0"/>
</joint>

<joint name="right_upper_arm_joint" type="fixed">
    <parent link="right_shoulder_up_link"/>
    <child link="right_upper_arm_link"/>
    <origin xyz="0 0 -0.05" rpy="0 0 0"/>
</joint>

<joint name="left_elbow_joint" type="revolute">
    <parent link="left_upper_arm_link"/>
    <child link="left_elbow_link"/>
    <origin xyz="-0.005 0 -0.05" rpy="0 0 0"/>
    <limit lower="-3.146" upper="3.146" effort="10" velocity="3"/>
    <axis xyz="0 0 1"/>
</joint>

<joint name="right_elbow_joint" type="revolute">
    <parent link="right_upper_arm_link"/>
    <child link="right_elbow_link"/>
    <origin xyz="-0.005 0 -0.05" rpy="0 0 0"/>
    <limit lower="-3.146" upper="3.146" effort="10" velocity="3"/>
    <axis xyz="0 0 1"/>
</joint>

<joint name="left_lower_arm_joint" type="fixed">
    <parent link="left_elbow_link"/>
    <child link="left_lower_arm_link"/>
    <origin xyz="0 0 -0.08" rpy="0 0 0"/>
</joint>

<joint name="right_lower_arm_joint" type="fixed">
    <parent link="right_elbow_link"/>
    <child link="right_lower_arm_link"/>
    <origin xyz="0 0 -0.08" rpy="0 0 0"/>
</joint>

<joint name="left_wrist_joint" type="revolute">
    <parent link="left_lower_arm_link"/>
    <child link="left_wrist_link"/>
    <origin xyz="0 0 -0.05" rpy="0 0 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
    <axis xyz="1 0 0"/>
</joint>

<joint name="right_wrist_joint" type="revolute">
    <parent link="right_lower_arm_link"/>
    <child link="right_wrist_link"/>
    <origin xyz="0 0 -0.05" rpy="0 0 0"/>
    <limit lower="-1.57" upper="1.57" effort="10" velocity="3"/>
    <axis xyz="1 0 0"/>
</joint>

<joint name="left_hand_joint" type="fixed">
    <parent link="left_wrist_link"/>
    <child link="left_hand_link"/>
    <origin xyz="0 0 -0.055" rpy="0 0 0"/>
</joint>

<joint name="right_hand_joint" type="fixed">
    <parent link="right_wrist_link"/>
    <child link="right_hand_link"/>
    <origin xyz="0 0 -0.055" rpy="0 0 0"/>
</joint>

`

peifeng-unity commented 3 years ago

Hello @Pterodactylus, thanks for your reporting. This seems a duplicate of another open issue in Unity-Robotics-Hub. We will take a look and reply soon.

mrpropellers commented 3 years ago

Closing this one to consolidate discussion