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Negative mesh scale issue #221

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Merged
merged 1 commit into from
Sep 3, 2024
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Negative mesh scale issue #221

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28 changes: 28 additions & 0 deletions docs/robots/index.html
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Expand Up @@ -595,6 +595,15 @@
</span>
</a>

</li>

<li class="md-nav__item">
<a href="#known-issues" class="md-nav__link">
<span class="md-ellipsis">
Known issues
</span>
</a>

</li>

</ul>
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</span>
</a>

</li>

<li class="md-nav__item">
<a href="#known-issues" class="md-nav__link">
<span class="md-ellipsis">
Known issues
</span>
</a>

</li>

</ul>
Expand Down Expand Up @@ -1774,6 +1792,16 @@ <h2 id="loading-custom-robots">Loading Custom Robots<a class="headerlink" href="
<a id="__codelineno-31-2" name="__codelineno-31-2" href="#__codelineno-31-2"></a> <span class="n">your_robot</span> <span class="o">=</span> <span class="n">robot_dart</span><span class="o">.</span><span class="n">Robot</span><span class="p">(</span><span class="s2">&quot;path/to/model.urdf&quot;</span><span class="p">,</span> <span class="n">your_model_packages</span><span class="p">)</span>
</code></pre></div>
</div>
<h2 id="known-issues">Known issues<a class="headerlink" href="#known-issues" title="Permanent link">&para;</a></h2>
<p>For DART versions 6.14.4 and below, one might see the following error <strong>when loading meshes with negative scaling</strong>:</p>
<div class="highlight"><pre><span></span><code><a id="__codelineno-32-1" name="__codelineno-32-1" href="#__codelineno-32-1"></a>./dart/dynamics/MeshShape.cpp:240: void dart::dynamics::MeshShape::setScale(const Eigen::Vector3d&amp;): Assertion `(scale.array() &gt; 0.0).all()&#39; failed.
<a id="__codelineno-32-2" name="__codelineno-32-2" href="#__codelineno-32-2"></a>Aborted (core dumped)
</code></pre></div>
<p>There are two solutions to this:</p>
<ol>
<li>Download and build the latest DART master or a version greater than 6.14.4</li>
<li>Edit your meshes to not have negative scale</li>
</ol>



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2 changes: 1 addition & 1 deletion docs/search/search_index.json
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13 changes: 13 additions & 0 deletions src/docs/docs/robots.md
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Expand Up @@ -273,3 +273,16 @@ RobotDART gives you the ability to load custom robots that are defined in [URDF
your_robot = robot_dart.Robot("path/to/model.urdf", your_model_packages)
```

## Known issues

For DART versions 6.14.4 and below, one might see the following error **when loading meshes with negative scaling**:

```
./dart/dynamics/MeshShape.cpp:240: void dart::dynamics::MeshShape::setScale(const Eigen::Vector3d&): Assertion `(scale.array() > 0.0).all()' failed.
Aborted (core dumped)
```

There are two solutions to this:

1. Download and build the latest DART master or a version greater than 6.14.4
2. Edit your meshes to not have negative scale