Sphere model is fitting joints instead of links (for custom robot)

[jayaramreddy10]

Hi, I was trying to build sphere model for xarm7 (which is not provided by default in curobo). Spheres are fitting joints instead of links.

URDF : https://drive.google.com/file/d/15mpdO20_NXHT8zGIXS_X6gOnTpc5biYx/view?usp=sharing
USD : https://drive.google.com/file/d/179Jmx-5bW3uxbX5I8bk_qkOby5i7vSJ7/view?usp=drive_link
yml file: https://drive.google.com/file/d/1rg1XP9KHyKcymljtMYX_doApf2QBbCIQ/view?usp=sharing

Screenshots of the sphere model for first 3 links. Could you please help me understand why is it modelling that way?

Let me know if you need further information.

[balakumar-s]

Not exactly sure what's happening, but you can manually move the spheres after they are generated following this video: https://curobo.org/source/tutorials/1_robot_configuration.html#robot-collision-representation

One thing to try would be to select collisions in Select Mesh drop down.

[jayaramreddy10]

Thank you, will try that.