URDF importer broken
Hi, I found a bug while trying to import a URDF robot model (like the ATLAS model, provided in the repo as example) in the RobotViewer example app. Apparently, some of the .dae files are not being opened correctly.
When I start RobotViewer and try loading the atlas_v3.urdf
model I get the following error in the console
Loading Robot from /home/fbottarel/robot-code/simox/VirtualRobot/data/robots/urdf/atlas_description/urdf/atlas_v3.urdf
Coin read error: Not a valid Inventor file.
Occurred at line 1 in /home/fbottarel/robot-code/simox/VirtualRobot/data/robots/urdf/atlas_description/meshes_v3/l_clav.dae
Problem reading model from SoInput: /home/fbottarel/robot-code/simox/VirtualRobot/data/robots/urdf/atlas_description/meshes_v3/l_clav.dae
This happens with many of the robot components. Most of the robot model is displayed anyways (I think some bits are missing though, for instance the camera head):
When I try to export the model as XML (both with RobotViewer or the example app LoadURDFRobot) the conversion seems to run fine, however when the resulting XML file is opened it looks like some meshes are corrupted. The reference frames for the links are in place (they can be displayed and moved) but there is no mesh. The meshes that don't show up are probably corrupted, as they can't be opened via MeshLab.
I am running Ubuntu 18.04 and I had to build liburdfdom
from scratch since simox only supports version 0.4, which is not bundled in Bionic Beaver.