search

agilexrobotics / mobile_aloha_sim

MIT License
48 stars 10 forks source link

Incorrect wheel position in URDF model for Isaac Sim #2

Open tttonyalpha opened 6 months ago

tttonyalpha commented 6 months ago

Screencast_05_03_2024_01:14:52_PM.webm

Hello there is problems with Mobile Aloha URDF model mobile_aloha_sim/aloha_isaac_sim/urdf/arx5_description_isaac.urdf - some wheels are located lower than they should be, this causes problem with wheeled base riding - robot don't move until you lift the wheels to the desired level on your own

Attached the corrected USD model: link

lanmmn commented 2 months ago

Screencast_05_03_2024_01.14.52_PM.webm Hello there is problems with Mobile Aloha URDF model mobile_aloha_sim/aloha_isaac_sim/urdf/arx5_description_isaac.urdf - some wheels are located lower than they should be, this causes problem with wheeled base riding - robot don't move until you lift the wheels to the desired level on your own

Attached the corrected USD model: link

Hi! why when I import your usd file, it gets wrong. Is your isaac sim version 2023.1.1? When I press the "play" button, it just fly away. Should I translate it into a .urdf file then re-translate this file to usd with the URDF importer? Looking fowfard to your reply, thanks a lot !!