Scaling issue from DAE files

[hehonglu123]

URDF loader isn't correctly handling scaling from sketchup DAE files.
Collada mesh file: https://gist.github.com/hehonglu123/0afdb2bab3d744cd5abe5fe0bb30fd9c

In Gazebo:

In Tesseract Viewer:

@johnwason

[Levi-Armstrong]

Yea, it is possible that the scale is not being handled yet.

[Levi-Armstrong]

@haudren Are you providing a scale in the urdf or are you suggesting that the dae file itself has a scale which is not being handled?

[hehonglu123]

I tried the urdf with scale and without, not affecting the result (giant). I believe there's default scale in .dae files. .stl file works fine with the default scale; but with scale parameter in urdf, it's different than what shows up in gazebo.

[Levi-Armstrong]

What visualizer are you using?

[hehonglu123]

tesseract_viewer_python

[johnwason]

I checked the output from the Mesh class, and the triangle positions are far larger than they should be. The tesseract_viewer_python passes the output directly from the Mesh class, and then adds the scale separately. I confirmed that the scale values passed to the viewer matched those specified in the URDF file. The issue seems to be a transform in the dae file that is not being applied to the position array when it is loaded.

[Levi-Armstrong]

@johnwason are you working on a fix?

[johnwason]

No, we were able to work around this problem by using STL files. The problem only seems to occur with sketchup exports.

[Levi-Armstrong]

Do you mind posting the sketup dae and the stl?

[hehonglu123]

stl: https://github.com/hehonglu123/RR_Project/blob/master/simulation/models/box2/box2.stl
dae: https://github.com/hehonglu123/RR_Project/blob/master/simulation/models/box2/model.dae

[Levi-Armstrong]

I have found the issue and not sure how best to fix it.

https://github.com/ros-industrial-consortium/tesseract/blob/b79ea6bcad011bd17761d96cf50e2f0f1c5d35c3/tesseract/tesseract_geometry/include/tesseract_geometry/mesh_parser.h#L191-L196

and

https://github.com/ros-industrial-consortium/tesseract/blob/b79ea6bcad011bd17761d96cf50e2f0f1c5d35c3/tesseract/tesseract_geometry/include/tesseract_geometry/mesh_parser.h#L279-L284

[johnwason]

Yeah, the ROS software doesn't handle collada format properly. I suggest we deprecate it in favor of glTF since collada is so ambiguous.

Does RViz have the same problem?