Describe the bug
When importing the Panda Robot URDF, the robot in the scene has panda_link1 as the root of the Articulation Body, while panda_link0 should be the root. This causes the robot to "explode" apart from the base link. GitHub won't let me upload the video for some reason, but every link from panda_link1 and above stays connected, but shoots off into the sky when the scene is started. panda_link0 stays on the ground. Adding an Articulation Body component to panda_link0 so that it is the new root fixes the exploding robot.
To Reproduce
Generate the panda URDF from the franka_ros2 repository: Run xacro panda_arm.urdf.xacro hand:=true use_fake_hardware:=true > panda_arm.urdf in the franka_ros2/franka_description/robots directory.
Import the generated URDF. I had to copy the franka_description folder from the above repo into the Unity project alongside the URDF, although I'm not sure if there's a way around that.
Inspecting the Articulation Body component of the panda_link1 Game Object shows that it is the root body of the articulation.
Press play, and the robot shoots off into the sky.
Console logs / stack traces
No errors are logged.
Expected behavior
The root body of the articulation is panda_link0. The robot stays intact when the scene is played.
Environment (please complete the following information, where applicable):
Unity Version: Unity 2020.3.18f1
Unity machine OS + version: Windows 11 22000.978
ROS machine OS + version: Ubuntu 20.04, ROS2 Foxy
ROS–Unity communication: Docker
Branch or version: v0.5.2
Additional context
I followed the tutorials for setting the various robot parameters (Stiffness, Damping, etc.) and adding a controller script, although I don't think this should make a difference.
Describe the bug When importing the Panda Robot URDF, the robot in the scene has
panda_link1as the root of the Articulation Body, whilepanda_link0should be the root. This causes the robot to "explode" apart from the base link. GitHub won't let me upload the video for some reason, but every link frompanda_link1and above stays connected, but shoots off into the sky when the scene is started.panda_link0stays on the ground. Adding an Articulation Body component topanda_link0so that it is the new root fixes the exploding robot.To Reproduce
xacro panda_arm.urdf.xacro hand:=true use_fake_hardware:=true > panda_arm.urdfin thefranka_ros2/franka_description/robotsdirectory.franka_descriptionfolder from the above repo into the Unity project alongside the URDF, although I'm not sure if there's a way around that.panda_link1Game Object shows that it is the root body of the articulation.Console logs / stack traces No errors are logged.
Expected behavior The root body of the articulation is
panda_link0. The robot stays intact when the scene is played.Environment (please complete the following information, where applicable):
Additional context I followed the tutorials for setting the various robot parameters (Stiffness, Damping, etc.) and adding a controller script, although I don't think this should make a difference.