search

Unity-Technologies / URDF-Importer

URDF importer
Apache License 2.0
214 stars 71 forks source link

Franka panda arm proper import issue #199

Closed WhatWhatz closed 2 years ago

WhatWhatz commented 2 years ago

Describe the bug I loaded the Franka panda arm from their official repo into unity. However, the colliders of the arm look weird compared to the colliders of other robots I successfully loaded. After setting the stiffness and dampness to 10000and 100respectively when running the scene the upper half of the arm disappears with a coordinate of NaN and the console throws an Invalid AABB aabb error. I tried <disable_collision link1="panda_link0" link2="panda_link1"></disable_collision> between all the links but the error persists. An other minor problem is that the highlight of each part of the robot is not working when importing a new urdf robot (doesn't even work on the tutorial robot arm niryo_one if you reimport it again).

To Reproduce Steps to reproduce the behavior:

  1. Download the franka repo from https://github.com/frankaemika/franka_ros
  2. Run rosrun xacro xacro -o robots/panda_arm.urdf robots/panda_arm.urdf.xacro to generate the URDF file
  3. Import the model to unity using URDF Importer
  4. Set stiffness and dampness to 10000 and 100 respectively
  5. Run

Console logs / stack traces Invalid AABB aabb

Expected behavior A held together moving robot arm with each part highlighted properly when selected.

Screenshots https://user-images.githubusercontent.com/54809336/164265890-3b321510-e4ea-4072-958f-a17255b7d4b0.mp4

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

WhatWhatz commented 2 years ago

I was able to resolve the Invalid AABB aabb by adding the two following lines to the franka arm urdf file :

  <!-- remove Invalid AABB aabb error -->
  <disable_collision link1="panda_link1" link2="panda_link3"></disable_collision>
  <!-- remove wobbliness -->
  <disable_collision link1="panda_link3" link2="panda_link5"></disable_collision>

For some reason I thought that non consecutive links can not collide with each other which is wrong.

However parts highlighting is still not working.

WhatWhatz commented 2 years ago

Going to close this because the main issue was resolved.