Mesh does not display correctly

[55155]

Thank you for creating such an excellent simulator for research purposes.

Here is the actual STL file,

and the result after visualization.

<?xml version="1.0" ?>
<!-- =================================================================================== -->
<!-- |    This document was autogenerated by xacro from Crank_slider_system.xacro      | -->
<!-- |    EDITING THIS FILE BY HAND IS NOT RECOMMENDED                                 | -->
<!-- =================================================================================== -->
<robot name="Crank_slider_system">
  <material name="Crank_slider_system_silver">
    <color rgba="0.700 0.700 0.700 1.000"/>
  </material>
  <material name="Crank_slider_system_color0">
    <color rgba="0.145 0.133 0.133 1.0"/>
  </material>
  <material name="Crank_slider_system_color1">
    <color rgba="0.686 0.686 0.686 0.098"/>
  </material>
  <transmission name="Revolute 47_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="Revolute 47">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Revolute 47_actr">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="Revolute 49_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="Revolute 49">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Revolute 49_actr">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="Revolute 50_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="Revolute 50">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Revolute 50_actr">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <transmission name="Slider 60_tran">
    <type>transmission_interface/SimpleTransmission</type>
    <joint name="Slider 60">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
    </joint>
    <actuator name="Slider 60_actr">
      <hardwareInterface>hardware_interface/EffortJointInterface</hardwareInterface>
      <mechanicalReduction>1</mechanicalReduction>
    </actuator>
  </transmission>
  <gazebo>
    <plugin filename="libgazebo_ros_control.so" name="control"/>
  </gazebo>
  <gazebo reference="base_link">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
    <gravity>true</gravity>
  </gazebo>
  <gazebo reference="braket1">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="braket2">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="motor">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="motor">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Link1">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Link2">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Link3">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Shaft">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Impact_Plate">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Slider_jig">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Wall">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Slider_jig">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <gazebo reference="Slider1">
    <material>Gazebo/Silver</material>
    <mu1>0.2</mu1>
    <mu2>0.2</mu2>
    <self_collide>true</self_collide>
  </gazebo>
  <link name="base_link">
    <inertial>
      <origin rpy="0 0 0" xyz="0.22492636641555602 0.005 -0.16001305238884705"/>
      <mass value="3.7636948268894805"/>
      <inertia ixx="0.004552" ixy="0.0" ixz="3e-06" iyy="0.054739" iyz="-0.0" izz="0.05025"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/base_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="0 0 0"/>
      <geometry>
        <mesh filename="../meshes/base_link.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="braket1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.0 0.004999999999999999 0.0"/>
      <mass value="0.28259999999999996"/>
      <inertia ixx="8.7e-05" ixy="0.0" ixz="0.0" iyy="0.00017" iyz="0.0" izz="8.7e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.11 -0.01 0.185"/>
      <geometry>
        <mesh filename="../meshes/braket1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.11 -0.01 0.185"/>
      <geometry>
        <mesh filename="../meshes/braket1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="braket2">
    <inertial>
      <origin rpy="0 0 0" xyz="5.958400717265278e-10 0.030000000000000002 0.0"/>
      <mass value="0.24406640260831103"/>
      <inertia ixx="8.5e-05" ixy="0.0" ixz="0.0" iyy="8.5e-05" iyz="-0.0" izz="0.000167"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.11 -0.02 0.16"/>
      <geometry>
        <mesh filename="../meshes/braket2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.11 -0.02 0.16"/>
      <geometry>
        <mesh filename="../meshes/braket2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="motor">
    <inertial>
      <origin rpy="0 0 0" xyz="1.016437392586944e-09 -7.402680177182042e-09 -0.01971245258615223"/>
      <mass value="0.5513081044550306"/>
      <inertia ixx="0.000154" ixy="-0.0" ixz="0.0" iyy="0.000154" iyz="-0.0" izz="0.000156"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.11 -0.05 0.1655"/>
      <geometry>
        <mesh filename="../meshes/motor.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.11 -0.05 0.1655"/>
      <geometry>
        <mesh filename="../meshes/motor.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="motor_shaft">
    <inertial>
      <origin rpy="0 0 0" xyz="5.960465176979568e-10 -5.227138166752354e-13 0.00974999999999987"/>
      <mass value="0.0030056205965515235"/>
      <inertia ixx="0.0" ixy="-0.0" ixz="-0.0" iyy="0.0" iyz="0.0" izz="0.0"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.11 -0.05 0.163"/>
      <geometry>
        <mesh filename="../meshes/motor_shaft.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.11 -0.05 0.163"/>
      <geometry>
        <mesh filename="../meshes/motor_shaft.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Link1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.01000000059602428 1.249000902703301e-16 -0.005000000000000143"/>
      <mass value="0.03632431220866492"/>
      <inertia ixx="1e-06" ixy="-0.0" ixz="0.0" iyy="4e-06" iyz="0.0" izz="4e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.11 -0.05 0.1435"/>
      <geometry>
        <mesh filename="../meshes/Link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.11 -0.05 0.1435"/>
      <geometry>
        <mesh filename="../meshes/Link1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Link2">
    <inertial>
      <origin rpy="0 0 0" xyz="0.04700000059604126 2.8449465006019636e-16 0.004999999999999838"/>
      <mass value="0.1682043122086649"/>
      <inertia ixx="7e-06" ixy="0.0" ixz="0.0" iyy="0.000165" iyz="-0.0" izz="0.000169"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.13 -0.05 0.1435"/>
      <geometry>
        <mesh filename="../meshes/Link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.13 -0.05 0.1435"/>
      <geometry>
        <mesh filename="../meshes/Link2.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Link3">
    <inertial>
      <origin rpy="0 0 0" xyz="0.01118519260242784 1.3877787807814457e-16 -0.004999999999988708"/>
      <mass value="0.045988409039964616"/>
      <inertia ixx="2e-06" ixy="-0.0" ixz="-0.0" iyy="4e-06" iyz="0.0" izz="5e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.224 -0.05 0.1435"/>
      <geometry>
        <mesh filename="../meshes/Link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.224 -0.05 0.1435"/>
      <geometry>
        <mesh filename="../meshes/Link3.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Shaft">
    <inertial>
      <origin rpy="0 0 0" xyz="0.04565824322633355 1.0408340855860843e-16 -1.687538997430238e-14"/>
      <mass value="0.005039873731856857"/>
      <inertia ixx="0.0" ixy="-0.0" ixz="0.0" iyy="4e-06" iyz="0.0" izz="4e-06"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.251 -0.05 0.1485"/>
      <geometry>
        <mesh filename="../meshes/Shaft.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.251 -0.05 0.1485"/>
      <geometry>
        <mesh filename="../meshes/Shaft.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Impact_Plate">
    <inertial>
      <origin rpy="0 0 0" xyz="0.005009856778224464 1.3808398868775384e-15 -5.551115123125783e-17"/>
      <mass value="0.19547932805216622"/>
      <inertia ixx="8.2e-05" ixy="0.0" ixz="-0.0" iyy="4.3e-05" iyz="0.0" izz="4.3e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.351 -0.05 0.1485"/>
      <geometry>
        <mesh filename="../meshes/Impact_Plate.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.351 -0.05 0.1485"/>
      <geometry>
        <mesh filename="../meshes/Impact_Plate.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Slider_jig">
    <inertial>
      <origin rpy="0 0 0" xyz="5.96050764301026e-10 0.014032687941284544 -8.326672684688674e-17"/>
      <mass value="0.29233817695735465"/>
      <inertia ixx="5e-05" ixy="-0.0" ixz="-0.0" iyy="7.3e-05" iyz="0.0" izz="6.7e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.283 -0.01 0.1475"/>
      <geometry>
        <mesh filename="../meshes/Slider_jig.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.283 -0.01 0.1475"/>
      <geometry>
        <mesh filename="../meshes/Slider_jig.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <link name="Wall">
    <inertial>
      <origin rpy="0 0 0" xyz="-0.013718626738737638 0.02626691996491727 1.942890293094024e-16"/>
      <mass value="1.240738012063854"/>
      <inertia ixx="0.002257" ixy="0.000318" ixz="0.0" iyy="0.001882" iyz="-0.0" izz="0.001161"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.394243 -0.01 0.16"/>
      <geometry>
        <mesh filename="../meshes/Wall.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.394243 -0.01 0.16"/>
      <geometry>
        <mesh filename="../meshes/Wall.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <!--<link name="Slider_jig">
    <inertial>
      <origin rpy="0 0 0" xyz="0.014000000596050721 -0.018967312058715453 -0.012000000000000066"/>
      <mass value="0.29233817695735465"/>
      <inertia ixx="5e-05" ixy="-0.0" ixz="-0.0" iyy="7.3e-05" iyz="0.0" izz="6.7e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.269 -0.043 0.1355"/>
      <geometry>
        <mesh filename="../meshes/Slider_jig.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.269 -0.043 0.1355"/>
      <geometry>
        <mesh filename="../meshes/Slider_jig.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>-->
  <link name="Slider1">
    <inertial>
      <origin rpy="0 0 0" xyz="0.021500000596053115 0.0021856845849656595 0.0011086680128989113"/>
      <mass value="0.18275198888146296"/>
      <inertia ixx="2.4e-05" ixy="-0.0" ixz="0.0" iyy="4.7e-05" iyz="0.0" izz="3.3e-05"/>
    </inertial>
    <visual>
      <origin rpy="0 0 0" xyz="-0.2615 -0.05 0.1485"/>
      <geometry>
        <mesh filename="../meshes/Slider1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
      <material name="silver"/>
    </visual>
    <collision>
      <origin rpy="0 0 0" xyz="-0.2615 -0.05 0.1485"/>
      <geometry>
        <mesh filename="../meshes/Slider1.stl" scale="0.001 0.001 0.001"/>
      </geometry>
    </collision>
  </link>
  <joint name="Rigid 44" type="fixed">
    <origin rpy="0 0 0" xyz="0.11 0.01 -0.185"/>
    <parent link="base_link"/>
    <child link="braket1"/>
  </joint>
  <joint name="Rigid 45" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.01 0.025"/>
    <parent link="braket1"/>
    <child link="braket2"/>
  </joint>
  <joint name="Rigid 46" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.03 -0.0055"/>
    <parent link="braket2"/>
    <child link="motor"/>
  </joint>
  <joint name="Revolute 47" type="continuous">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0025"/>
    <parent link="motor"/>
    <child link="motor_shaft"/>
    <axis xyz="0.0 0.0 1.0"/>
  </joint>
  <joint name="Rigid 48" type="fixed">
    <origin rpy="0 0 0" xyz="0.0 0.0 0.0195"/>
    <parent link="motor_shaft"/>
    <child link="Link1"/>
  </joint>
  <joint name="Revolute 49" type="continuous">
    <origin rpy="0 0 0" xyz="0.02 0.0 0.0"/>
    <parent link="Link1"/>
    <child link="Link2"/>
    <axis xyz="-0.0 -0.0 -1.0"/>
  </joint>
  <joint name="Revolute 50" type="continuous">
    <origin rpy="0 0 0" xyz="0.094 0.0 0.0"/>
    <parent link="Link2"/>
    <child link="Link3"/>
    <axis xyz="0.0 -0.0 -1.0"/>
  </joint>
  <joint name="Rigid 51" type="fixed">
    <origin rpy="0 0 0" xyz="0.027 0.0 -0.005"/>
    <parent link="Link3"/>
    <child link="Shaft"/>
  </joint>
  <joint name="Rigid 53" type="fixed">
    <origin rpy="0 0 0" xyz="0.1 0.0 0.0"/>
    <parent link="Shaft"/>
    <child link="Impact_Plate"/>
  </joint>
  <!--<joint name="Rigid 54" type="fixed">
    <origin rpy="0 0 0" xyz="0.269 0.043 -0.1355"/>
    <parent link="base_link"/>
    <child link="Slider_jig"/>
  </joint>-->
  <joint name="Rigid 55" type="fixed">
    <origin rpy="0 0 0" xyz="0.394243 0.01 -0.16"/>
    <parent link="base_link"/>
    <child link="Wall"/>
  </joint>
  <joint name="Rigid 59" type="fixed">
    <origin rpy="0 0 0" xyz="0.0075 -0.007 0.013"/>
    <parent link="Slider1"/>
    <child link="Slider_jig"/>
  </joint>
  <joint name="Slider 60" type="prismatic">
    <origin rpy="0 0 0" xyz="0.0105 0.0 0.0"/>
    <parent link="Shaft"/>
    <child link="Slider1"/>
    <axis xyz="-1.0 -0.0 -0.0"/>
    <limit effort="100" lower="0.0" upper="0.0" velocity="100"/>
  </joint>
</robot>

The issue appears even more severe when working with assemblies. Even though I set the origin to xyz = '0 0 0', the model seems to drop down from above, as if the origin isn’t aligned properly.

Am I doing something wrong, or should I consider using DAE files instead of STL for mesh data?

[duburcqa]

Genesis was not optimised for such small parts interacting together. Try disabling decimation by passing decimate=False to URDF Morph when adding entity.

[55155]

I increased the scale and set decimate to False, but the same modeling problem occurs. How can I resolve this?

TEST_LINK_sizeup.urdf_no_devimate.mp4

[duburcqa]

Can you share the mesh?

[55155]

When I run this code, I get an error. Could it be a version issue?
I am using genesis version 0.3.1.

[55155]

When I comment out the line # scene.viewer.run() and run it, the simulator exits immediately.

[duburcqa]

When I run this code, I get an error. Could it be a version issue?

No. It is related to run_in_thread=False by default on MacOS (my machine) while it is false by default on other OSes.

[55155]

I think I gave you the wrong file. sorry about that,

When I load the file /urdf/TEST_link_sizeup.urdf using the morph.URDF method, the 3D model breaks.

I also checked the morph.Mesh, and there were no issues with that.
TEST_LINK_sizeup_description.zip

[duburcqa]

Now I can reproduce the issue. And yes, its works just fine when loading the mesh directly. This is weird...

I will try to work on it asap.