Bad quality visual meshes for UR3 in ros Kinetic

[cocodmdr]

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.

Other meshes have strange shading and are not smooth.

[gavanderhoorn]

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:

• ur_description
• ur_e_description

[cocodmdr]

It is the regular UR3, there are topics about bad shading in the ur_description history like this one :
[(https://github.com/ros-industrial/universal_robot/issues/233)] However I believe the wrist3.dae was forgotten only for the UR3 in this commit by @j-polden : https://github.com/ros-industrial/universal_robot/commit/da652cf3cca789d053c06fb069b25e37d95848da#diff-ae6e1415a6620b312668ab17564ad6e0

[gavanderhoorn]

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.

[dhled]

Method applied is described here: https://github.com/ros-industrial/universal_robot/pull/360

[gavanderhoorn]

did you make any progress with this @rtonnaer?

[gavanderhoorn]

@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]

Hi, I am familiar with blender, I will be tackling this in wrid20