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GEN3-LITE.urdf filenames incorrect #308

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willxxy opened this issue Aug 31, 2023 · 0 comments
Open

GEN3-LITE.urdf filenames incorrect #308

willxxy opened this issue Aug 31, 2023 · 0 comments

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@willxxy
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willxxy commented Aug 31, 2023 •
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Description

The filenames for each mesh file is incorrect in the urdf file when trying to open in Isaac Gym

Version

ROS distribution :

Branch and commit you are using : kinetic-devel

Steps to reproduce

  1. step 1...
  2. step 2...

Code example (if necessary)

This should be the correct link based on the repo.

<robot name="KR7108-URDF" version="1.0">
  <link name="BASE">
    <inertial>
      <origin xyz="0.00244324 0.00015573 0.08616742" rpy="0 0 0" />
      <mass value="1.14608471" />
      <inertia ixx="0.00335854" ixy="3.9E-07" ixz="0.00010989" iyy="0.003311" iyz="1.91E-06" izz="0.00077158" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/base_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/base_link.STL" />
      </geometry>
    </collision>
  </link>
  <link name="SHOULDER">
    <inertial>
      <origin xyz="2.477E-05 0.02213531 0.09937686" rpy="0 0 0" />
      <mass value="0.95974404" />
      <inertia ixx="0.00165947" ixy="2E-08" ixz="3.6E-07" iyy="0.00140355" iyz="0.00034927" izz="0.00089493" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/shoulder_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/shoulder_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J0" type="revolute">
    <origin xyz="0 0 0.12825" rpy="0 0 0" />
    <parent link="BASE" />
    <child link="SHOULDER" />
    <axis xyz="0 0 1" />
    <limit lower="-2.76" upper="2.76" effort="10" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="ARM">
    <inertial>
      <origin xyz="0.02998299 0.21154808 0.0453031" rpy="0 0 0" />
      <mass value="1.17756164" />
      <inertia ixx="0.01149277" ixy="1E-06" ixz="1.6E-07" iyy="0.00102851" iyz="0.00140765" izz="0.01133492" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/arm_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/arm_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J1" type="revolute">
    <origin xyz="0 -0.03 0.115" rpy="1.5708 0 0" />
    <parent link="SHOULDER" />
    <child link="ARM" />
    <axis xyz="0 0 1" />
    <limit lower="-2.76" upper="2.76" effort="14" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="FOREARM">
    <inertial>
      <origin xyz="0.0301559 0.09502206 0.0073555" rpy="0 0 0" />
      <mass value="0.59767669" />
      <inertia ixx="0.00163256" ixy="7.11E-06" ixz="1.54E-06" iyy="0.00029798" iyz="9.587E-05" izz="0.00169091" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/forearm_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/forearm_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J2" type="revolute">
    <origin xyz="0 0.28 0" rpy="-3.1416 0 0" />
    <parent link="ARM" />
    <child link="FOREARM" />
    <axis xyz="0 0 1" />
    <limit lower="-2.76" upper="2.76" effort="10" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="LOWER_WRIST">
    <inertial>
      <origin xyz="0.00575149 0.01000443 0.08719207" rpy="0 0 0" />
      <mass value="0.52693412" />
      <inertia ixx="0.00069098" ixy="2.4E-07" ixz="0.00016483" iyy="0.00078519" iyz="7.4E-07" izz="0.00034115" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/lower_wrist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/lower_wrist_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J3" type="revolute">
    <origin xyz="0 -0.14 0.02" rpy="1.5708 0 0" />
    <parent link="FOREARM" />
    <child link="LOWER_WRIST" />
    <axis xyz="0 0 1" />
    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="UPPER_WRIST">
    <inertial>
      <origin xyz="0.08056517 0.00980409 0.01872799" rpy="0 0 0" />
      <mass value="0.58097325" />
      <inertia ixx="0.00021268" ixy="5.21E-06" ixz="2.91E-06" iyy="0.00106371" iyz="1.1E-07" izz="0.00108465" />
    </inertial>
    <visual>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/upper_wrist_link.STL" />
      </geometry>
    </visual>
    <collision>
      <origin xyz="0 0 0" rpy="0 0 0" />
      <geometry>
        <mesh filename="package://kortex_description/gen3_lite/meshes/upper_wrist_link.STL" />
      </geometry>
    </collision>
  </link>
  <joint name="J4" type="revolute">
    <origin xyz="0.0285 0 0.105" rpy="0 1.5708 0" />
    <parent link="LOWER_WRIST" />
    <child link="UPPER_WRIST" />
    <axis xyz="0 0 1" />
    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="END_EFFECTOR"/>
  <joint name="J5" type="revolute">
    <origin xyz="-0.105 0 0.0285" rpy="0 -1.5708 0" />
    <parent link="UPPER_WRIST" />
    <child link="END_EFFECTOR" />
    <axis xyz="0 0 1" />
    <limit lower="-2.67" upper="2.67" effort="7" velocity="0.35" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
  <link name="DUMMY" />
  <joint name="END_EFFECTOR" type="fixed">
    <origin xyz="0 0 0.13" rpy="0 0 0" />
    <parent link="END_EFFECTOR" />
    <child link="DUMMY" />
    <axis xyz="0 0 1" />
    <limit lower="0" upper="0" effort="0" velocity="0" />
    <calibration rising="0" falling="0" />
    <dynamics damping="0" friction="0" />
    <safety_controller soft_upper="0" soft_lower="0" k_position="0" k_velocity="0" />
  </joint>
</robot>

Expected behavior

Describe the expected behavior (in regard to the bug described above).

Any other information

Any other information you believe the maintainers need to know.
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@willxxy