Open stephane-caron opened 1 year ago
Here is the list of meshes tried out by yourdfpy
(for one of the hand meshes):
[2022-09-15 11:12:26] DEBUG:yourdfpy.urdf:Checking filename: halodi-robot-models/eve_r3_description/urdf/meshes/ph_distal.obj
[2022-09-15 11:12:26] DEBUG:yourdfpy.urdf:Checking filename: qb_hand_description/meshes/ph_distal.obj
[2022-09-15 11:12:26] DEBUG:yourdfpy.urdf:Checking filename: halodi-robot-models/eve_r3_description/meshes/ph_distal.obj
[2022-09-15 11:12:26] DEBUG:yourdfpy.urdf:Checking filename: halodi-robot-models/meshes/ph_distal.obj
[2022-09-15 11:12:26] DEBUG:yourdfpy.urdf:Checking filename: meshes/ph_distal.obj
[2022-09-15 11:12:26] WARNING:yourdfpy.urdf:Unable to resolve filename: package://qb_hand_description/meshes/ph_distal.obj
[2022-09-15 11:12:26] WARNING:yourdfpy.urdf:Can't find package://qb_hand_description/meshes/ph_distal.obj
The one if doesn't and should try is `halodi-robot-models/qb_hand_description/...
.
This issue boils down to the following: when we do recursive traversal via
_create_filename_handlers_to_urdf_file_recursive(urdf_fname=dir)
all file handlers ultimately call filename_handler_ignore_directive_package
, which drops the whole suffix package://packagename/
.
In this instance, the URDF would load successfully if we also tried dropping package://
only and keeping packagename
as a directory name.
The path to the hand meshes of the Eve R3 URDF (one of those shown in the README) is not found:
The directory
qb_hand_description
is actually in the halodi-robot-models repository, so I'm not sure whyyourdfpy
doesn't find it.Illustration
Mesh not loaded properly (this issue):
Mesh loaded properly (how it should be):
Further observations
yourdfpy eve_r3_description/urdf/eve_r3.urdf
from the root of halodi-robot-modelsyourdfpy halodi-robot-models/eve_r3_description/urdf/eve_r3.urdf
from a directory containing halodi-robot-models