Closed paolo-viceconte closed 4 years ago
I want to test this locally but the PR looks good to me. Though, I would wait before merging because I'm not actually sure whether the file://
prefix is required or not. I suspect that it will work with Ignition Gazebo but it won't work with PyBullet, so I would rather remove the URI and just leave the relative path. I just checked and using the IGN_FILE_PATH
everything seems to work. I let you know how to proceed.
Actually, I found a bug in sdformat that prevents using relative paths if the model is urdf. Instead, if it gets converted to an sdf, relative meshes are loaded correctly. At this point we still have to rely on IGN_FILE_PATH
waiting an upstream fix.
The same comment applies to #1.
Without the file://
URI, urdf models do not find mesh files even if IGN_FILE_PATH
is configured. For the time being we can merge the models as they are. They are not yet compatible with PyBullet, but they will be as soon as resolving relative mesh folders will be fixed for urdfs (and the URI get removed).
I copy here for future reference a comment by @paolo-viceconte from a private repo:
I discovered that both in https://github.com/mkrizmancic/franka_gazebo and in https://github.com/cpezzato/panda_simulation the visual meshes (i.e. all the
*.dae
files) have the transparent tag set to A_ONE, which seems to be ok only in old versions of gazebo. One possible solution is to set it to RGB_ZERO, as detailed here.
Related to https://github.com/ignitionrobotics/ign-rendering/issues/89. Tested with OGRE 1.
I discovered that both in https://github.com/mkrizmancic/franka_gazebo and in https://github.com/cpezzato/panda_simulation the visual meshes (i.e. all the *.dae files) have the transparent tag set to A_ONE, which seems to be ok only in old versions of gazebo. One possible solution is to set it to RGB_ZERO, as detailed here.
Given the most recent updates from ignitionrobotics/ign-rendering#89, the RGB_ZERO
transparent tags inserted in the Panda visual meshes need to be reverted to the original A_ONE
value. Done via https://github.com/robotology/gym-ignition-models/pull/24.
The
Panda.urdf
model was obtained from the models provided inhttps://github.com/mkrizmancic/franka_gazebo/robots
by executingBefore the conversion, the original
panda_arm_hand.urdf.xacro
file was modified as follows:panda_arm.xacro
andhand.xacro
files included in the file were adjusted as neededgazebo
parameter was set tofalse
in order to avoid unsupported features in the finalPanda.urdf
fileThe included files (
panda_arm.xacro
andhand.xacro
) were in turn modified as follows:package://
was replaced byfile://
in the paths to the collision and visual meshes in order to be consistent with the format required in this folderThe mesh files were instead taken from
https://github.com/cpezzato/panda_simulation
because they have the phongambient
parameter set to1 1 1 1
which results in a Panda robot visualized in its original colors. The phongambient
parameter set to0 0 0 1
in the mesh files provided inhttps://github.com/mkrizmancic/franka_gazebo/robots
resulted instead in a Panda robot visualized in dark gray.