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openrr / urdf-viz

visualize URDF/XACRO file, URDF Viewer works on Windows/MacOS/Linux
Apache License 2.0
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Transform misalignment on mesh #260

Closed soraxas closed 2 weeks ago

soraxas commented 2 weeks ago

~There seems to be some joint angles offest in the urdf-viz implementation (or maybe in the upstream urdf-rs).~

~The offset seems to be by a value of $$\pi$$ (180 degrees)~

With some preliminary testing, it seems it's the world transform that has some misalignment.

The example panda arm urdf can be downloaded here: panda.tar.gz

Visualisation from pybullet

import time
import pybullet as p

physicsClient = p.connect(p.GUI)
planeId = p.loadURDF("panda/urdf/panda_relative.urdf")
time.sleep(10000)

image

urdf-viz panda/urdf/panda_relative.urdf

image

soraxas commented 2 weeks ago

The bug is due to the upstream library mesh-loader.

Addressing in https://github.com/openrr/mesh-loader/pull/55