trouble scaling from meters to millimeters (+ other related issues when loading scene)

[inesariza]

Describe the bug

Scaling of a robot from meters to millimeters does not seem to work properly There are other aspects of the setup not loading properly that may be related

To Reproduce

grasshopper file including geometry inputs in meters and millimeters

when in m:

• robot loads fine from urdfs or from ROS
• collision mesh can be loaded only if loading robot directly from urdf

when in mm:

• robot loads fine from ROS if switching unit in gh file, but setup is different from meters setup

mm: m:

• robot fails to load directly from the urdfs
• collision mesh cannot be loaded:

Traceback:
  line 7, in script
  line 111, in ensure_client, "C:\Users\Ines\AppData\Roaming\McNeel\Rhinoceros\6.0\Plug-ins\IronPython (814d908a-e25c-493d-97e9-ee3861957f49)\settings\lib\compas_fab\robots\planning_scene.py"
  line 139, in add_collision_mesh, "C:\Users\Ines\AppData\Roaming\McNeel\Rhinoceros\6.0\Plug-ins\IronPython (814d908a-e25c-493d-97e9-ee3861957f49)\settings\lib\compas_fab\robots\planning_scene.py"

• calculated path is not located where the geometry input is located, it is sort of moved the distance from the urdf model location:

Expected behavior

either:

• load from ROS in mm (working but with a different setup) + be able to load collision meshes (not working in mm) or:
• load directly from an urdf in mm

but I am not sure I understand the implications of loading from ROS or urdfs, what is more practical, etc.

thank you!!

Desktop (please complete the following information):

• OS: Windows 10
• Python version 3.7
• Python package manager conda

waam_setup_m_mm.zip

[gonzalocasas]

Which version of compas_fab are you using? There are several unrelated issues here, but I think one big difference is that when you load from urdf (not from ROS), you don't have any client attached, and without a client, it is not possible to attach meshes. (That's why the error in script line 7 fails on ensure_client)

[inesariza]

compas_fab 0.11.0

ok, good point. but: when working in meters the collision attaches correctly when loading from the urdf 😕

waam_setup_m_mm.zip