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Bad quality visual meshes for UR3 in ros Kinetic #425

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cocodmdr opened this issue May 29, 2019 · 7 comments · May be fixed by #524
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Bad quality visual meshes for UR3 in ros Kinetic #425

cocodmdr opened this issue May 29, 2019 · 7 comments · May be fixed by #524
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@Briancbn
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@cocodmdr
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cocodmdr commented May 29, 2019 •
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Visual meshes are bad quality for UR3 in ros kinetic especially the wrist3.dae.

The mesh is not even centered when moving it with the joint_state_puplisher.

image

Other meshes have strange shading and are not smooth.

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@gavanderhoorn
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That does indeed not look very good.

Is that the regular UR3 model, or the e-series one?

It might be good to check whether that has always been that way or if things have deteriorated due to post-processing in a contributed PR.

History:

@cocodmdr
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cocodmdr commented May 29, 2019 •
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It is the regular UR3, there are topics about bad shading in the ur_description history like this one :
[(https://github.com//issues/233)]
However I believe the wrist3.dae was forgotten only for the UR3 in this commit by @j-polden : da652cf#diff-ae6e1415a6620b312668ab17564ad6e0

@gavanderhoorn
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However I believe the wrist3.dae was forgotten only for the UR3 in this commit by @j-polden : da652cf#diff-ae6e1415a6620b312668ab17564ad6e0

looks like it, yes.

@DavidMansolino DavidMansolino mentioned this issue Jun 20, 2019
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@dejaniraai dejaniraai assigned ngwk1 and unassigned ngwk1 Jul 2, 2019
@dhled
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dhled commented Jul 2, 2019

Method applied is described here: #360

@gavanderhoorn
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did you make any progress with this @rtonnaer?

@gavanderhoorn
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@rtonnaer: I'll unassign this for now. We'll keep the issue around for someone else to work on.

Thanks @ipa-led for some initial investigation.

@Briancbn
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Briancbn commented Jul 6, 2020 •
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Hi, I am familiar with blender, I will be tackling this in wrid20

@Briancbn Briancbn linked a pull request Jul 7, 2020 that will close this issue
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@ipa-nhg ipa-nhg linked a pull request Jul 8, 2020 that will close this issue
Fix ur3 visual mesh #524
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Fix ur3 visual mesh Briancbn/universal_robot
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@gavanderhoorn @Briancbn @rtonnaer @dhled @cocodmdr @ngwk1