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clemense / yourdfpy

Python parser for URDFs
MIT License
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iCub URDF appears "exploded" #39

Closed stephane-caron closed 1 year ago

stephane-caron commented 1 year ago

Loading the iCub URDF from example-robot-data:

yourdfpy example-robot-data/robots/icub_description/robots/icub.urdf

Results in wrong mesh placement:

image

I believe this model was the one used to generate the following animation, so the URDF should be legit:

animation

stephane-caron commented 1 year ago

This turns out to be a known issue https://github.com/Gepetto/example-robot-data/issues/105. Closing this one as the problem does not lie with yourdfpy.

stephane-caron commented 1 year ago

For future travelers, here is the URL to a correct model of that robot: https://github.com/robotology/icub-models/blob/9e91a7d7d09b4cf2c405f9b471965f6a6c3bab19/iCub/robots/iCubGazeboV2_5/model.urdf It displays perfectly fine in yourdfpy:

image