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Published
20 hours ago •
robotology
robotology
iDynTree Irrlicht visualizer does not load TALOS model properly
I try to visualize the model with the following command
idyntree-model-view -m $CONDA_PREFIX/share/example-robot-data/robots/talos_data/robots/talos_reduced.urdf
I got
On the other hand, if I load the model using iDynTree-Meshcat visualizer (after applying #925) the model is loaded correctly
To replicate the error you can use the following conda environment (
conda list):
conda list
# packages in environment at /home/gromualdi/mambaforge/envs/idyntree-env:
#
# Name Version Build Channel
_libgcc_mutex 0.1 conda_forge conda-forge
_openmp_mutex 4.5 1_llvm conda-forge
ampl-mp 3.1.0 h2cc385e_1005 conda-forge
argon2-cffi 21.1.0 py39h3811e60_0 conda-forge
assimp 5.0.1 hedfc422_6 conda-forge
async_generator 1.10 py_0 conda-forge
attrs 21.2.0 pyhd8ed1ab_0 conda-forge
backcall 0.2.0 pyh9f0ad1d_0 conda-forge
backports 1.0 py_2 conda-forge
backports.functools_lru_cache 1.6.4 pyhd8ed1ab_0 conda-forge
bleach 4.1.0 pyhd8ed1ab_0 conda-forge
boost 1.74.0 py39h5472131_3 conda-forge
boost-cpp 1.74.0 h359cf19_5 conda-forge
bzip2 1.0.8 h7f98852_4 conda-forge
ca-certificates 2021.10.8 ha878542_0 conda-forge
cffi 1.14.6 py39h4bc2ebd_1 conda-forge
console_bridge 1.0.1 h4bd325d_0 conda-forge
debugpy 1.4.1 py39he80948d_0 conda-forge
decorator 5.1.0 pyhd8ed1ab_0 conda-forge
defusedxml 0.7.1 pyhd8ed1ab_0 conda-forge
eigen 3.4.0 h4bd325d_0 conda-forge
eigenpy 2.6.9 py39h5aed9d1_0 conda-forge
entrypoints 0.3 py39hde42818_1002 conda-forge
example-robot-data 3.11.0 py39h1a9c180_0 conda-forge
freetype 2.10.4 h0708190_1 conda-forge
hpp-fcl 1.7.8 py39hbcdfc36_0 conda-forge
icu 69.1 h9c3ff4c_0 conda-forge
idyntree 4.2.0 py39hf4c3102_0 conda-forge
importlib-metadata 4.8.1 py39hf3d152e_0 conda-forge
ipopt 3.14.4 h7ede334_0 conda-forge
ipykernel 6.4.2 py39hef51801_0 conda-forge
ipython 7.29.0 py39hef51801_0 conda-forge
ipython_genutils 0.2.0 py_1 conda-forge
ipywidgets 7.6.5 pyhd8ed1ab_0 conda-forge
irrlicht 1.8.4 hdaeae82_1 conda-forge
jbig 2.1 h7f98852_2003 conda-forge
jedi 0.18.0 py39hf3d152e_2 conda-forge
jinja2 3.0.2 pyhd8ed1ab_0 conda-forge
jpeg 9d h36c2ea0_0 conda-forge
jsonschema 4.1.2 pyhd8ed1ab_0 conda-forge
jupyter_client 7.0.6 pyhd8ed1ab_0 conda-forge
jupyter_core 4.9.1 py39hf3d152e_0 conda-forge
jupyterlab_pygments 0.1.2 pyh9f0ad1d_0 conda-forge
jupyterlab_widgets 1.0.2 pyhd8ed1ab_0 conda-forge
lcms2 2.12 hddcbb42_0 conda-forge
ld_impl_linux-64 2.36.1 hea4e1c9_2 conda-forge
lerc 3.0 h9c3ff4c_0 conda-forge
libblas 3.9.0 12_linux64_openblas conda-forge
libcblas 3.9.0 12_linux64_openblas conda-forge
libdeflate 1.8 h7f98852_0 conda-forge
libffi 3.4.2 h9c3ff4c_4 conda-forge
libgcc-ng 11.2.0 h1d223b6_11 conda-forge
libgfortran-ng 11.2.0 h69a702a_11 conda-forge
libgfortran5 11.2.0 h5c6108e_11 conda-forge
libgomp 11.2.0 h1d223b6_11 conda-forge
libiconv 1.16 h516909a_0 conda-forge
liblapack 3.9.0 12_linux64_openblas conda-forge
libopenblas 0.3.18 pthreads_h8fe5266_0 conda-forge
libosqp 0.6.2 h9c3ff4c_3 conda-forge
libpng 1.6.37 h21135ba_2 conda-forge
libsodium 1.0.18 h36c2ea0_1 conda-forge
libstdcxx-ng 11.2.0 he4da1e4_11 conda-forge
libtiff 4.3.0 h6f004c6_2 conda-forge
libwebp-base 1.2.1 h7f98852_0 conda-forge
libxcb 1.13 h7f98852_1003 conda-forge
libxml2 2.9.12 h885dcf4_1 conda-forge
libzlib 1.2.11 h36c2ea0_1013 conda-forge
llvm-openmp 12.0.1 h4bd325d_1 conda-forge
lz4-c 1.9.3 h9c3ff4c_1 conda-forge
markupsafe 2.0.1 py39h3811e60_0 conda-forge
matplotlib-inline 0.1.3 pyhd8ed1ab_0 conda-forge
meshcat-python 0.3.1 pyhd8ed1ab_0 conda-forge
metis 5.1.0 h58526e2_1006 conda-forge
mistune 0.8.4 py39h3811e60_1004 conda-forge
mumps-include 5.2.1 ha770c72_10 conda-forge
mumps-seq 5.2.1 h47a8eb5_10 conda-forge
nbclient 0.5.4 pyhd8ed1ab_0 conda-forge
nbconvert 6.2.0 py39hf3d152e_0 conda-forge
nbformat 5.1.3 pyhd8ed1ab_0 conda-forge
ncurses 6.2 h58526e2_4 conda-forge
nest-asyncio 1.5.1 pyhd8ed1ab_0 conda-forge
notebook 6.4.5 pyha770c72_0 conda-forge
numpy 1.21.3 py39hdbf815f_0 conda-forge
octomap 1.9.7 h4bd325d_0 conda-forge
olefile 0.46 pyh9f0ad1d_1 conda-forge
openjpeg 2.4.0 hb52868f_1 conda-forge
openssl 3.0.0 h7f98852_1 conda-forge
osqp-eigen 0.6.4 h9c3ff4c_1 conda-forge
packaging 21.2 pyhd8ed1ab_1 conda-forge
pandoc 2.15 h7f98852_0 conda-forge
pandocfilters 1.5.0 pyhd8ed1ab_0 conda-forge
parso 0.8.2 pyhd8ed1ab_0 conda-forge
pexpect 4.8.0 pyh9f0ad1d_2 conda-forge
pickleshare 0.7.5 py39hde42818_1002 conda-forge
pillow 8.3.2 py39ha612740_0 conda-forge
pinocchio 2.6.3 py39hbcdfc36_2 conda-forge
pip 21.3.1 pyhd8ed1ab_0 conda-forge
prometheus_client 0.12.0 pyhd8ed1ab_0 conda-forge
prompt-toolkit 3.0.21 pyha770c72_0 conda-forge
pthread-stubs 0.4 h36c2ea0_1001 conda-forge
ptyprocess 0.7.0 pyhd3deb0d_0 conda-forge
pycparser 2.20 pyh9f0ad1d_2 conda-forge
pygments 2.10.0 pyhd8ed1ab_0 conda-forge
pyngrok 5.1.0 pyhd8ed1ab_0 conda-forge
pyparsing 2.4.7 pyhd8ed1ab_1 conda-forge
pyrsistent 0.17.3 py39h3811e60_2 conda-forge
python 3.9.7 hf930737_3_cpython conda-forge
python-dateutil 2.8.2 pyhd8ed1ab_0 conda-forge
python_abi 3.9 2_cp39 conda-forge
pyyaml 6.0 py39h3811e60_0 conda-forge
pyzmq 22.3.0 py39h37b5a0c_0 conda-forge
qhull 2020.2 h4bd325d_2 conda-forge
readline 8.1 h46c0cb4_0 conda-forge
scotch 6.0.9 h3858553_1 conda-forge
send2trash 1.8.0 pyhd8ed1ab_0 conda-forge
setuptools 58.3.0 py39hf3d152e_0 conda-forge
six 1.16.0 pyh6c4a22f_0 conda-forge
sqlite 3.36.0 h9cd32fc_2 conda-forge
terminado 0.12.1 py39hf3d152e_0 conda-forge
testpath 0.5.0 pyhd8ed1ab_0 conda-forge
tinyxml 2.6.2 h4bd325d_2 conda-forge
tk 8.6.11 h27826a3_1 conda-forge
tornado 6.1 py39h3811e60_1 conda-forge
traitlets 5.1.1 pyhd8ed1ab_0 conda-forge
tzdata 2021e he74cb21_0 conda-forge
u-msgpack-python 2.7.1 pyh9f0ad1d_0 conda-forge
urdfdom 2.3.5 h4bd325d_0 conda-forge
urdfdom_headers 1.0.5 h4bd325d_2 conda-forge
wcwidth 0.2.5 pyh9f0ad1d_2 conda-forge
webencodings 0.5.1 py_1 conda-forge
wheel 0.37.0 pyhd8ed1ab_1 conda-forge
widgetsnbextension 3.5.2 py39hf3d152e_0 conda-forge
xorg-kbproto 1.0.7 h7f98852_1002 conda-forge
xorg-libx11 1.7.2 h7f98852_0 conda-forge
xorg-libxau 1.0.9 h7f98852_0 conda-forge
xorg-libxdmcp 1.1.3 h7f98852_0 conda-forge
xorg-libxext 1.3.4 h7f98852_1 conda-forge
xorg-xextproto 7.3.0 h7f98852_1002 conda-forge
xorg-xproto 7.0.31 h7f98852_1007 conda-forge
xz 5.2.5 h516909a_1 conda-forge
yaml 0.2.5 h516909a_0 conda-forge
zeromq 4.3.4 h9c3ff4c_1 conda-forge
zipp 3.6.0 pyhd8ed1ab_0 conda-forge
zlib 1.2.11 h36c2ea0_1013 conda-forge
zstd 1.5.0 ha95c52a_0 conda-forge
Please expand the ROS_PACKAGE_PATH environment variable with
export ROS_PACKAGE_PATH=${ROS_PACKAGE_PATH:+${ROS_PACKAGE_PATH}:}${CONDA_PREFIX}/share
Then apply the PR #925
You can finally run the following python script to visualize the model with meshcat
from idyntree.visualize import MeshcatVisualizer
import numpy as np
import os
def get_model_path(robot_name='talos_reduced'):
conda_prefix = os.environ["CONDA_PREFIX"]
robots_folder = os.path.join("share","example-robot-data","robots","talos_data","robots")
return os.path.join(conda_prefix, robots_folder, robot_name +".urdf")
def get_joint_list():
joint_list = ["torso_1_joint", "torso_2_joint",
"leg_left_1_joint", "leg_left_2_joint", "leg_left_3_joint", "leg_left_4_joint", "leg_left_5_joint", "leg_left_6_joint",
"leg_right_1_joint", "leg_right_2_joint", "leg_right_3_joint", "leg_right_4_joint", "leg_right_5_joint", "leg_right_6_joint",
"arm_left_1_joint", "arm_left_2_joint", "arm_left_3_joint", "arm_left_4_joint", "arm_left_5_joint", "arm_left_6_joint", "arm_left_7_joint",
"arm_right_1_joint", "arm_right_2_joint", "arm_right_3_joint", "arm_right_4_joint", "arm_right_5_joint", "arm_right_6_joint", "arm_right_7_joint"]
return joint_list
if __name__ == "__main__":
model_path = get_model_path()
joint_list = get_joint_list()
viz = MeshcatVisualizer()
viz.set_model_from_file(model_path, joint_list)
viz.load_model(color=[1, 1, 1, 0.8])
My guess is that the irrlicht visualizer is not taking properly taking into account the iDynTree::SolidShape::getLink_H_geometry data of visualization shapes.
My guess is that the irrlicht visualizer is not taking properly taking into account the
iDynTree::SolidShape::getLink_H_geometrydata of visualization shapes.
However, I quickly checked in https://github.com/Gepetto/example-robot-data/blob/v3.11.0/robots/talos_data/robots/talos_reduced.urdf and it seems that all the visual geometry elements have the form:
<visual>
<origin rpy="0 0 0" xyz="0 0 0"/>
So this may not be the case.