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Hello Vicente, I was trying the robots plugin for some pick & place scripts. But every time I lose a mesh when I run the script. This varies between robot meshes and gripper meshes. Example for the gripper, in its closed state, its mesh is correct but in its open state, the mesh is invalid. This is due to what?
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Replies: 11 comments 13 replies
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Hi, are you using the latest Rhino 7? Someone else contacted me with the exact same bug using Rhino 7. I can have a look if you attach a minimal rhino and grasshopper file that can reproduce the bug. |
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Yes I'm using Rhino 7 right now. I also think that it's about the Rhino version because I didn't have those kinds of problems with the Rhino6 version. https://drive.google.com/file/d/15YFAN93U5syQl0xmOqi1c4ja58JMiwvS/view?usp=sharing Thank you! |
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Have a look at the discussion in this thread it fixed the issue for me
https://discourse.mcneel.com/t/orient-mesh-creates-invalid-mesh/104082/2
…On Sun, 24 Jan 2021 at 23:01, W1711 ***@***.***> wrote:
Yes I'm using Rhino 7 right now. I also think that it's about the Rhino
version because I didn't have those kinds of problems with the Rhino6
version.
Here is a simple grasshopper script & the rhino file with the tools:
https://drive.google.com/file/d/15YFAN93U5syQl0xmOqi1c4ja58JMiwvS/view?usp=sharing
<http://url>
MeshBug.zip <https://github.com/visose/Robots/files/5863386/MeshBug.zip>
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It is true that rebuilding the mesh with Pufferfish can resolve the problem. For the tool it works fine, but for the robotic arm it would take a large amount of computational time, so it won't be efficient for a complex script (even for a simple one) :( |
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Haven't had a look yet, but from the post above it looks like it's likely an issue with the original mesh. The mesh is not considered valid from the beginning, but this only gets picked up after transforming the mesh, and Grasshopper decides not to display meshes flagged as invalid. The solution would be to fix the original mesh. If it's a robot joint, by repairing the mesh in the .3dm of the robot library. |
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Solved, the meshes has to be fixed from the beginning. Thanks! |
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@W1711 how did you fix this? I'm loading the UR10 from KULeuven and this one has the same issues. Looks like the other UR10s (Bartlett etc) are the same mesh. |
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a decent workaround is to instead of using a custom preview node to simply activate preview on the program simulation component depending on your application. gh/rhino doesnt seem to mind the invalid meshes in that case. works on the bartlett/leuven meshes in rhino7 for me. |
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To try resolve this issue, I wrote a script that goes through all the Rhino files of the libraries and attempts to fix the meshes. It does seem to have worked for the few that I tried but can't guarantee all of them. It also deletes other unnecessary objects from the Rhino file. When installing these libraries through the new UI panel, the Rhino file is hidden from the user so any other objects in the file are unnecessary, better to keep the file more lightweight. You can still have auxiliary objects by keeping the library files in your Documents folder as before, this will override the online-installed library. Below is a log of all the changes after running the script, I'll update them soon: |
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I'm struggling with the same issue. Recently updated to Rhino 7. The files I prepared for the UR3e, seemed to work on R6. Not so much on the R7. Would anyone be able to help take a look at the mesh for me? I've attached the required files here. |
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If you select each mesh and run the _what command, you'll see that some of them will show "invalid mesh". Run the _meshrepair command on them and fix zero length edges, degenerate faces, duplicate faces, and inconsistent normals. Having non-manifold edges and disjoint pieces is fine, no need to repair these. Also, the file size is very large. Run the _reducemesh command to reduce the mesh sizes by 90% or so. You can use the Rendered view and check before/after (undo/redo) to see how much the reduce mesh has affected quality, you will notice its not that much. You can do this selectively, like keep the 6th joint with higher resolution, and lower in other. Check again for invalid meshes after running _reducemesh. |
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Also, use the _blockmanager command to delete all the block definitions, or use the _purge command. These make up half the file size. |
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Thank you Visose, for not only addressing concerns, but taking the time to walk us through the fixes. |
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Hello, I have a very similar problem. |
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Hi, I can't open the file as it contains components from a third-party plugin that I don't have installed. Also, are you sure you can't simplify further the definition while retaining the issue? |
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Sorry, i had a parakeet component I forgot to remove. Here the previous file with detailed information cleaned of other plugins + the simplest possible replication of the error: it is related to the create tool component, which I am required to use - https://file.io/dkYU5BCpSF34 |
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I don't think I can reproduce the issue. All meshes show as valid, and preview properly after animating the slider and moving the viewport camera. If I disable the tool mesh, only the tool mesh becomes invalid, but this is expected as it's creating a mesh with 0 vertices, which is invalid, and this doesn't affect the other meshes.
When I opened your file, it was missing a reference to the point parameter, so I added a panel with some coordinates. I also added a slider and enabled the mesh parameter. Do you have any other clues on how I could reproduce this issue? Make sure you have the latest Rhino 7 service release and the latest Robots version installed. |
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The tcp parameter was missing, sorry. Anyway, i have the latest version of Rhino, Robots, and Robots extensions. I just tried on my old mac book pro and everything works. I now have no idea how to address it on my current system. |
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I understand that you could not reproduce the issue on another computer, and is likely a graphics card or driver issue? |
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Haven't had a look yet, but from the post above it looks like it's likely an issue with the original mesh. The mesh is not considered valid from the beginning, but this only gets picked up after transforming the mesh, and Grasshopper decides not to display meshes flagged as invalid. The solution would be to fix the original mesh. If it's a robot joint, by repairing the mesh in the .3dm of the robot library.