UR5 model display issues

[sea-bass]

According to Gepetto/example-robot-data#177, there are some problems with the UR5 model.

I think the easiest resolution for this repo is to switch to a UR10 model, since that apparently works fine and doesn't really impact this library.

[kumar-sanjeeev]

@sea-bass Can I look into this ?

[kumar-sanjeeev]

I tried adding ur10_description to the models directory. The comparison is as follows: ur10 (left) and ur5 (right).

If this is okay, what do you think? should we keep separate descriptions for each UR model, like ur5_description and ur10_description (which is what I did in this case), or should we use a single directory, ur_description, containing multiple models for the UR series (ROS-style)?

The screenshot below was taken after running:

python3 examples/intro_pinocchio/intro_pinocchio_ur10_sim.py
python3 examples/intro_pinocchio/intro_pinocchio_ur5_sim.py

[sea-bass]

Cool! Either way is fine.

Seems it would be best to have the Python code have a separate ur5 and ur10 file, but the meshes/descriptions can all live in a single ur_description folder.

[kumar-sanjeeev]

Okay, if I understand correctly, following will be the new ur_description directory structure, and for each arm, we will have separate files: intro_pinocchio_ur10_sim.py and intro_pinocchio_ur5_sim.py. Is that correct?

ur_description
├── meshes
│   ├── ur10
│   └── ur5
├── srdf
│   ├── ur10_gripper.srdf
│   └── ur5_gripper.srdf
└── urdf
    ├── ur10_gripper.urdf
    └── ur5_gripper.urdf

[sea-bass]

Exactly!