Export robot to urdf: mesh format limits and joint information missing

[WenqiangX]

Export robot to urdf: mesh format limits and joint information missing

[hyounesy]

Thanks for reporting the issues @WenqiangX. We have created internal tickets to further investigate both issues [AIRO-1691] [AIRO-1692]

[vidurvij-Unity]

It is not a bug, If you refer to the URDF xml documentation you will notice that there are two orientations in the joint section.
First is origin:

This sets the orientation of the joint, but if you notice in the image, the successive link's coordinate system becomes same as the joint's coordinate system. This is exactly what URDF importer does. When importing AND EXPORting it reads and write' data in the link' gameobject's transform as done here.

The second orientation mentioned in the axis section is the one that dictates the anchor rotation and position, as seen here being set by URDF importer for continuous joint.
and for other joints you can find it in these files.

So if you want to export the joint data, you must set the link transform and if you want to set the axis data in the URDF you should change the anchor rotation.

[github-actions]

This issue has been marked stale because it has been open for 14 days with no activity. Please remove the stale label or comment on this issue, or the issue will be automatically closed in the next 14 days.

[vidurvij-Unity]

The bug fix has been merged to dev.