Discrepancy in relative pose between visual and collision meshes between drake and non-drake tools

[siddancha]

I'm looking at the 010_potted_meat_can_textured model, where I converted the SDF into a URDF.

Files for reproduction

• 010_potted_meat_can_textured.zip

Problem

• Drake: When I view the URDF in the Drake visualizer, the visual and collision meshes are aligned.

  unzip 010_potted_meat_can_textured.zip -d files
  python3 -m pydrake.visualization.model_visualizer files/010_potted_meat_can_textured.urdf

  

  In Drake, visual and collision geometries are aligned

• Other tools: When using other open source tools to visualize the URDF, such as trimesh and a web URDF viewer, the two are not aligned:

  • To reproduce, drag all unzipped files into the web URDF viewer.
  

  In non-drake tools, visual and collision geometries are mis-aligned

[jwnimmer-tri]

One suggestion: make sure the other tools know that glTF meshes use a y-up coordinate system, whereas OBJ meshes are typically understood to be z-up.

[siddancha]

Thanks! That might be the issue.

• Understanding mesh coordinates when loading .glb files into Trimesh mikedh/trimesh#1759
• Imported mesh from glb has wrong rotation mikedh/trimesh#1938