Scaling factor set in the urdf are not recognized.
MaximilienNaveau opened this issue · comments
Setup:
Ubuntu14.04
robotpkg standard+wip with binary installation
example of problems with urdf:
<link name="L_HAND">
<visual>
<!-- <geometry>
<box size=".06 .06 .06"/>
</geometry> -->
<geometry>
<mesh filename="package://robot_properties_athena/meshes/stl/athena_hand.stl"
scale="0.001 0.001 0.001"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="grey">
<color rgba=".7 .7 .7 1.0"/>
</material>
</visual>
</link>
This is used by many people and I never had reports of such an issue. I
will have a look next week.
The following code works fine on my computer:
from gepetto.corbaserver import Client
cl = Client()
try:
cl.gui.getWindowID ("test")
except:
cl.gui.createWindow ("test")
# # You may need to call the two functions below if your version is old.
# createGroup
# addSceneToWindow
cl.gui.deleteNode ("foo", True)
cl.gui.addURDF ("foo", """
<robot name="foo">
<link name="L_HAND">
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur3/collision/base.stl"
scale="0.1 0.1 0.1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0.1"/>
<material name="grey">
<color rgba=".7 .7 .7 1.0"/>
</material>
</visual>
<visual>
<geometry>
<mesh filename="package://ur_description/meshes/ur3/collision/base.stl"
scale="1 1 1"/>
</geometry>
<origin rpy="0 0 0" xyz="0 0 0"/>
<material name="red">
<color rgba=".7 .1 .1 1.0"/>
</material>
</visual>
</link>
</robot>
""", "")
cl.gui.addToGroup ("foo", "test")
I let you reopen this if necessary.