how to edit urdf?

[cho-jang-hyun]

Describe the bug

I modified the code to use the Freight robot when running an example from OmniGibson, and executed it with the following command:

python -m omnigibson.examples.robots.robot_control_example --quickstart

After running the example, the Freight's camera does not display anything. I can only view the camera in the viewport by manually moving it with the mouse.

I tried to adjust the camera position by modifying the <joint name="base_camera_joint" type="fixed">
<origin rpy="0 -0.17453292519943 0" xyz="100.2645 100 100.198" /> in freight.urdf file, but the changes are not reflected when running the example.

How can I resolve this issue?

Screenshots
before moving

after moving

[hang-yin]

Hi @cho-jang-hyun , here are some ideas that may help:

1. After you've loaded your robot, you can find all the sensors on the robot with robot.sensors, and look for the one that's a VisionSensor. You should be able to move it by calling camera.set_position_orientation(th.tensor([0.04, 0.0, 0.0]), frame='parent'), which will move it forward by 4 centimeters as shown in your screenshot.
2. You can load the usd of the robot (instead of the urdf) into isaacsim, modify the camera link local pose and save the usd file for future use.

[cho-jang-hyun]

Thanks to your help, I was able to solve the issue.
Here’s how I resolved it:

# Get the camera's key
sensor_key = next(iter(robot.sensors)) # "robot:eyes:Camera:0"
# print("sensor_key", sensor_key)


# Get the camera's world position and orientation
pos, ori = robot.sensors[sensor_key].get_position_orientation()
# print("camera_position: ", pos)

# Change the camera's position
robot.sensors[sensor_key].set_position_orientation(position=pos+th.tensor([0.021, 0.0, 0.0]))