[bug] Mirrored models in URDF preview

[RangaSundarRS]

(Please add appropriate labels)

• [x] Windows: (10 Pro, Version 22H2, OS Build 19045.3448)
• [ ] Linux: (Dist/Version)
• [ ] ROS 1: Dist
• [x] ROS 2: Humble

\<0.9.5>

\<1.18.2>

what is the bug

When loading the Motoman MH180-120 robot arm, all links' models are mirrored over the link's Y-Z axis. The models are actually in the correct positions, but are displaying flipped.

Repro steps

See https://github.com/RangaSundarRS/MotomanMH-ROS2/tree/main for URDF and STL. 1) Source your ROS2 Humble install 2) Build the package with colcon build 3) Source the package with the install\local_setup.ps1 4) Run code to launch VSCode with 5) Open the folder in VSCode. 6) Open urdf\mh180_120.xacro in VSCode. 7) Ctrl-Shift-P -> ROS: Preview URDF 8) View the incorrect display of URDF. Many links are mirrored and rotated around such that the robot arm is no longer even connected!

expected behavior

The links should appear properly, not mirrored over the Y-Z axis. Correct appearance (from RoboDK, this is not using the URDF):

Correct visualization of the URDF (From urdf-viz):

[ooeygui]

Thank you - investigating.

[Ali-J-Fesharaki]

I have the same issue .it flips my shoulders but in movie and gazebo my model is fine

[ooeygui]

Oops, that's embarrassing. Thanks for bringing it to my attention

[jweaston]

I am also experiencing the same issue with the Fanuc CRX10ial. Let me know if there's any other information I can provide to help debug this issue.

[polyhobbyist]

This was a "handed coordinate system" problem. Corrected by inverting the meshes. I'm testing to make sure I didn't regress anything else.

[polyhobbyist]

I also noticed that the materials aren't applied by name; for example <material name="yellow"/> doesn't render because the RGBA isn't included.

[polyhobbyist]

@RangaSundarRS Do you mind if I include a flattened version of your xacro in the test case for the rendering?

[Usimian]

Would love to see this fixed. URDF preview in vscode is very useful. For now I've gone back to urdf-viz which renders properly.