mitchellspryn / urdfsim Goto Github PK

I am trying to get everything running on Ubuntu 18.04 but I am running into case issue and things that were not an issue for windows. For example, #include AirSimVehicle.h vs # include AirsimVehicle.h. Thank you!

I am trying to make it so that the camera that is used is static. I followed this tutorial

i.e.,

But, similar to this issue, when I change it to AirSimMode, which I need to spawn the URDF bot, then it reverts back to the camera on the URDFBot.

Also, I tried to change the ViewMode to GroundObserver, but nothing seemed to change. Also, this is not ideal for me as I was hoping to use a specific camera that I have set up.

Q1 Is there a way that I can spawn the Urdfbot without having to use AirSimMode?

Q2 Is there another way to deal with this?

Thank you very much

I am trying to use the robot arm to pick up objects, but it seems that the gripper finger is able to go straight through an object, especially when I decrease the mass of the object.

Consider this sequence example

** the mustard bottle passes straight through the manipulator hand

I have complex collisions set for this object

and, for the manipulator arms, I have added collisions the same as the visual, e.g.,

  <link name="left_manipulator">
    <visual>
      <geometry>
        <box size="0.06 0.035 0.15"/>
      </geometry>
      <material name="rubber"/>
    </visual>
    <collision>
      <geometry>
        <box size="0.06 0.035 0.15"/>
      </geometry>
    </collision>
    <inertial>
      <mass value="10"/>
      <inertia ixx="1.0" ixy="0.0" ixz="0.0" iyy="1.0" iyz="0.0" izz="1.0"/>
    </inertial>
  </link>

Might the behavior be expected using the physics engine that Unreal uses?

If so, is there any way to increase the fidelity of the simulation to avoid this?

Or if not, any idea what else may be going on here.

Thanks :)

AirSim has been updated since February, would it be possible to pull the latest AirSim into your UrdfSim fork? AirSim now uses settings.json 1.2, but UrdfSim is still on 1.0.

hi, I want to know that why is not having .uproject file in the unreal block environment .

thanks

Quite an unusual problem. I built this package the same way I did the AirSim package. Then I tried to build the Blocks environment the same way I did the AirSim Blocks environment.
https://github.com/mitchellspryn/UrdfSim/blob/master/docs/unreal_blocks.md
However I don't get the Blocks.sln file.

When trying to set the path for a custom material I noticed that it does not get applied to my custom STL mesh. When ends up showing is a default grey material. When looking through the issues I noticed that in #15 applying materials to custom STLs does not seem to work. Has this issue been fixed?

Here are the paths I used to set up custom materials:

Here is a sample mesh that shows only the default grey material.

Hi,
I try to set up your plugin. I got this error when I run the unreal simulation:
Error at startup: Unable to open file F:/vhacd/header.txt.
I haven't found the folder vhacd. I have only found this one: C:\Users\Administrator\UrdfSim\Examples\UrdfBot\LunabotParts\vhacd_bucket\header.txt.
I have changed the paths in settings-lunabot.json file and LunabotFromMesh.xml. Should I change paths somewhere else?
best, Michael

I manaed to import my Rubabot to the Three Bridges environment but have no idea how to let them move. How Can I let them move?

I get the error SimMode is not valid:UrdfBot. Apart from pasting the plugin file in my environment and editing the json file... is there anything else

I followed the tutorials for AirSim and URDF sim, but I am having an issue trying to spawn a URDF bot into Unreal.

It seems that there are no Blueprints for the URDF model, so I tried to simply drag and drop it from the Window in the picture into the Unreal editor, but nothing seems to show up

Sorry, I am a newbie to Unreal. Thank you for any help or advice

This is an issue I found when the xml attributes are written as '', rather than ''.
They might look the same😅, but for some reason, white spaces before and after the equal sign cause issues which is different from standard XML. If this is an issue for you, try removing those white spaces; it fixed the issue for me.

I trying to follow the instructions hereto setup the AirSim settings for URDFSim and I am looking at the example file, which is specific to AirSim, but I am having some trouble. For instance, the first bullet point says

The pawn type needs to be set to "urdfbot"

but I do not see an entry "pawn type" in the .json file.

I think it might be easier if you provided an example of this json file for URDFsim, do you mind doing that for the gripper arm?

currently I have something like this

{

  "SettingsVersion": 1.0,

  "SimMode": "UrdfBot",

  "PawnPaths": {

    "UrdfBot": {

      "UrdfFile": "C:/Users/admin/Documents/workspace/UrdfSim/Examples/UrdfBot/RobotArm.xml",
    
    }

  },

  "Vehicles": {

    "UrdfBot": {

      "VehicleType": "UrdfBot",

      "DebugSymbolScale": 5,

      "CollisionBlacklist": [

        {

          "BotMesh": "base",

          "ExternalActorRegex": "Ground"

        }

      ],

      "Cameras": {

        "Follow": {

          "X": 200,

          "Y": 0,

          "Z": 50,

          "Pitch": -10,

          "Roll": 0,

          "Yaw": 180,

          "AttachLink": "base"

        },

        "Arm": {

          "X": -8,

          "Y": 0,

          "Z": -5,

          "Pitch": 90,

          "Roll": 0,

          "Yaw": 0,

          "AttachLink": "manipulator_base"

        }

      },

      "Sensors": {

        "FirstArmLinkImu": {

          "SensorType": 2,

          "AttachLink": "first_arm_link",

          "Enabled": true

        },

        "SecondArmLinkImu": {

          "SensorType": 2,

          "AttachLink": "second_arm_link",

          "Enabled": true

        },

        "ThirdArmLinkImu": {

          "SensorType": 2,

          "AttachLink": "final_arm_link",

          "Enabled": true

        },

        "ArmDistanceSensor": {

          "SensorType": 5,

          "AttachLink": "manipulator_base",

          "Enabled": true,

          "DrawDebugPoints": true,

          "MaxDistance": 1000,

          "X": 25,

          "Y": 20,

          "Z": 0,

          "Pitch": -90,

          "Roll": 0,

          "Yaw": 0

        }

      }

    }

  }

}

Thank you!

Hi,

Have you tried to simulate the mecanum wheel? How does UrdfSim work with such kinematics? Do I need to write my own math models for it?

Hi, thanks for the awesome contribution!

Is it possible to simulate car-like vehicles with more advanced kinematics such as truck-trailer systems, given that the system can be described by continuous joints linking 2 vehicles?

Hi,

As you already know, I am simulating a mecanum robot. I make a continious joint between the wheel and the roller and applied vhcad collision to both wheel and roller links.

However, when I move around, I can see that when roller is happened to be a point of contact with a ground, it kind of seems to be "soft", meaning that it goes a bit inside the wheel. How can I prevent that?

Hi,

I would like to use UrdfSim with ardupilot / PX4 sitl. Is this possible ?

Thanks a lot.

I followed the documentation and tried to integrate lunabot into my Project.
Do I need to spawn a pawn in UE myself? or do i just need a player start actor.

I succeeded in building URDFSIm in my window machine. I want to test if the robots are displayed in URDFSIM environment... but have no idea on what to proceed. Could you describe one ?

Trying to lendering my URDF file, I constantly come across error message, like

"error at startup : Error parsing 3-d vector from string , did not detect 3 elements"

Is there any method that I can pin-point the location of cause of errors in my URDF file ?

Hi,
I tried to use this plugin with the current AirSim version which does not support Visual Studio 2017 anymore (only VS 2019). But it's not working with the newer version. Are you planning to do an update? Would be great.
Best, Michael

Hi, I wanted to start with the provided Examples but I am not able to insert the Lunabot.

I am pretty new to the Unreal Engine editor so I tried the following:

I have changed the path to the xml in the json file but I did not change anything else in the provided json file. Afterwards I have put the json file into the /Documents/Airsim folder. But when I press play the Unreal editor says "SimMode is not valid: UrdfBot" and "There were no compatible vehicles created for current SimMode! Check your settings.json.".

Is there something missing or do I have to add something else?

Hi! How can I use my custom mesh with texture in urdfsim?

The "mesh" tag in "settings.json" needs the 'type' and 'location' parameters.
I tried to put an obj mesh file in the "location", with stl_ascii type, then unreal says this file has no endsolid when clicking the play button. Indeed, an obj file does not have 'endsolid'.

So could I use an obj/dae mesh file by just modifying "settings.json"?
if not, could I make these files into uasset files, and import them as "mesh" in "settings.json"?

Thank you!

I am trying to control the manipulator to open or close using functionality from ArmClientTest.py i.e.,

print('Closing claw')
client.set_manipulator(0)

or

print('Opening claw')
client.set_manipulator(1)

But it is not moving the manipulator arms.

I am able to use the PythonClient to move the URDF around to a random pose.

Q1: Any thoughts?

Q2: Eventually, I would like to be able to grab this cup (or some object) and move it around. Is this easily done once I can grab the cup?

Thank you!

Hi!

So I'm trying to import a drone into your URDF Airsim. This was a prebuilt drone that I did not make myself.
I do not have the prebuilt XML file but I have the SDF file. Is it possible to use that? Or do I need to do a conversion of XML to SDF?

Thanks in advance!

When running the example RobotArm python script, I noticed that the "base" mesh still registers collisions when the simulator is running. Under the .json file I noticed that this mesh should be blacklisted (code below), yet it sill registers collisions. The .json file that I ran is the default given in the example.

Settings: Windows 10, UE 4.24.3, vs2017

"UrdfBot": {
          "VehicleType": "UrdfBot",
          "DebugSymbolScale": 5,
          "CollisionBlacklist": [
              {
                  "BotMesh": "base", 
                  "ExternalActorRegex": "Ground"
              }
          ],

I had to make these modifications for build.cmd to work.

microsoft/AirSim@e661902

Hi,

I want to simulate a custom model. I have defined the generated the Ascii STL files in the mesh type but the collision part created errors and I still can not see any shapes, only coordinates (red circle):

Since I have not specified additional parameters, I thought that it would automatically use the BSP method.
When I use the VHACD method (scale_factor="100" dynamic_collision_type="vhacd" vhacd_concavity="0.2" vhacd_output_folder_path="E:/UrdfSim/Examples/UrdfBot/LunabotParts/vhacd_bucket"), the errors are gone but I can only see the coordinates again and the invisible model just falls through the ground or spins around in the air.

Did somebody face the same problems and can help me please?

I installed VS2017 and window SDK 8.1 when I try to build URDFSim

(1) I encounter the error that there is no Eigen/Dense folder in URDFSim Repository. I manually install Eigen and copy the contents of Eigen library to UrdfSim/Airlib/include folder so that looks like below.

I hope you check this issue

(2) Besides the error in (1), I encouter erros like

LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\DroneShell\DroneShell.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\HelloDrone\HelloDrone.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\DroneServer\DroneServer.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\MavLinkCom\MavLinkTest\MavLinkTest.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\MavLinkCom\MavLinkTest\MavLinkTest.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\Examples\Examples.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\AirLibUnitTests\AirLibUnitTests.vcxproj]
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\HelloCar\HelloCar.vcxproj]
Done Building Project "C:\UrdfSim\HelloCar\HelloCar.vcxproj" (default targets) -- FAILED.
Done Building Project "C:\UrdfSim\AirSim.sln" (default targets) -- FAILED

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\DroneShell\DroneShell.vcxproj" (default target) (2) ->
(Link target) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\DroneShell\DroneShell.vcxproj]

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\HelloDrone\HelloDrone.vcxproj" (default target) (5) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\HelloDrone\HelloDrone.vcxproj]

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\DroneServer\DroneServer.vcxproj" (default target) (6) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\DroneServer\DroneServer.vcxproj]

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\MavLinkCom\MavLinkTest\MavLinkTest.vcxproj" (default target) (7) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\MavLinkCom\MavLinkTest\MavLinkTest.vcxproj]

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\Examples\Examples.vcxproj" (default target) (8) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\Examples\Examples.vcxproj]

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\AirLibUnitTests\AirLibUnitTests.vcxproj" (default target) (11) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\AirLibUnitTests\AirLibUnitTests.vcxproj]

"C:\UrdfSim\AirSim.sln" (default target) (1) ->
"C:\UrdfSim\HelloCar\HelloCar.vcxproj" (default target) (12) ->
LINK : fatal error LNK1104: cannot open file 'ucrtd.lib' [C:\UrdfSim\HelloCar\HelloCar.vcxproj]

I found that ucrtd.lib and urct.lib files are in window SDK folder. If I manually copy them into the above-mentioned folders, I found that those errors gone vanishing. However, I have no idea on why those errors occurs.

Could you check? Thanks.

I was originally asking the same thing for the AirSim library but I was recommended to look at this repo. Thank you for working on such a thing.

My original question is here:
microsoft/AirSim#1864

I tried to read through the documentation you have provided. I am still not clear about how to map the control inputs to physics namely forces and torques on certain points. How can I define the kinematic model for my vehicle?

Thank you.

Hi, I am facing an issue after I run build.cmd using Visual Studio 2019.

Do you guys know how to solve this issue below?

::_System_error_message(unsigned long)" (??0_System_error_message@std@@QEAA@K@Z) [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(client.obj) : error LNK2019: unresolved external symbol __std_system_error_deallocate_message referenced in function "public: __cdecl std::_System_error_messa
ge::~_System_error_message(void)" (??1_System_error_message@std@@QEAA@XZ) [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(client.obj) : error LNK2001: unresolved external symbol __CxxFrameHandler4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(rpc_error.obj) : error LNK2001: unresolved external symbol __CxxFrameHandler4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(response.obj) : error LNK2001: unresolved external symbol __CxxFrameHandler4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(format.obj) : error LNK2001: unresolved external symbol __CxxFrameHandler4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(client.obj) : error LNK2001: unresolved external symbol __GSHandlerCheck_EH4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(rpc_error.obj) : error LNK2001: unresolved external symbol __GSHandlerCheck_EH4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
AirLib.lib(format.obj) : error LNK2001: unresolved external symbol __GSHandlerCheck_EH4 [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]
c:\workspace\UrdfSim\DroneShell\build\x64\Debug\DroneShell.exe : fatal error LNK1120: 4 unresolved externals [c:\workspace\UrdfSim\DroneShell\DroneShell.vcxproj]

Hi, I only have an urdf file - is it still possible to simulate the robot without the xml file?

I followed the tutorial on setting up AIRsim for URDFSim and I am able to spawn the URDF

Now I am trying to control it, using the documentation here and here, but alas, I am having issues.

I think that it is due to my need to make the PythonClient into a project that is visible by my main project. For instance looking at URDFsim in VS, there are 13 projects

But, when I look at my project, again setup using the instructions in the tutorial video, I only have 3 projects and the PythonClient is missing.

If you look at the folder structure of this, you can see that I copied the PythonClient folder from URDFsim into my project

Is there way to make it recognize PythonClient here so that it as a startup project?

Thank you!

Hello,

First of all, thanks for this nice simulator. I'm looking for an inspiration to implement custom Mars-like rover into UE, but the game engine itself supports only cars, where there is a single engine to power the whole vehicle. I learnt about AirSim and UrdfSim only earlier this week and I am trying to evaluate whether it can meet my requirements.

I managed to successfully build UrdfSim on Ubuntu and run few examples and tests. I finally launched Lunabot but it seems to be floating above the ground (please see the picture below).

When using LunabotClientTest.py commands are correctly sent (wheels/arm are turning) and sensors data is correctly received. I imagine that the robot should be 'dropped' at the start of the simulation when physics kicks in. For comparison, I also checked the following:

• RobotArm's base is also floating above the ground
• HelloCar example works correctly - both C++ and Python examples

Thanks,
Mateusz

I'm getting this error when trying to boot up my UrdfSim environment from the Epic Games Launcher or through Visual Studio.
I started up the environment through the above processes and it worked before. All of the sudden the environment crashes when trying to load it.

Platform: Windows 10, vs2017, Unreal 2.24.3

Below is the following error:
LoginId:a434651d4fb6b6c0c52e0d9fed62d432
EpicAccountId:

Unhandled Exception: 0xe06d7363

UE4Editor_AirSim!nlohmann::basic_json<std::map,std::vector,std::basic_string<char,std::char_traits,std::allocator >,bool,__int64,unsigned __int64,double,std::allocator,nlohmann::adl_serializer>::parser::expect() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\common_utils\json.hpp:11607]
UE4Editor_AirSim!nlohmann::basic_json<std::map,std::vector,std::basic_string<char,std::char_traits,std::allocator >,bool,__int64,unsigned __int64,double,std::allocator,nlohmann::adl_serializer>::parser::parse_internal() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\common_utils\json.hpp:11461]
UE4Editor_AirSim!nlohmann::basic_json<std::map,std::vector,std::basic_string<char,std::char_traits,std::allocator >,bool,__int64,unsigned __int64,double,std::allocator,nlohmann::adl_serializer>::parser::parse_internal() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\common_utils\json.hpp:11462]
UE4Editor_AirSim!nlohmann::basic_json<std::map,std::vector,std::basic_string<char,std::char_traits,std::allocator >,bool,__int64,unsigned __int64,double,std::allocator,nlohmann::adl_serializer>::parser::parse_internal() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\common_utils\json.hpp:11462]
UE4Editor_AirSim!nlohmann::basic_json<std::map,std::vector,std::basic_string<char,std::char_traits,std::allocator >,bool,__int64,unsigned __int64,double,std::allocator,nlohmann::adl_serializer>::parser::parse_internal() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\common_utils\json.hpp:11462]
UE4Editor_AirSim!nlohmann::basic_json<std::map,std::vector,std::basic_string<char,std::char_traits,std::allocator >,bool,__int64,unsigned __int64,double,std::allocator,nlohmann::adl_serializer>::parser::parse() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\common_utils\json.hpp:11384]
UE4Editor_AirSim!msr::airlib::Settings::loadJSonString() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\airlib\include\common\settings.hpp:64]
UE4Editor_AirSim!ASimHUD::ASimHUD() [d:\unreal projects\factorysim_urdf\plugins\airsim\source\simhud\simhud.cpp:23]
UE4Editor_CoreUObject
UE4Editor_CoreUObject
UE4Editor_CoreUObject
UE4Editor_CoreUObject
UE4Editor_Core
UE4Editor_Core
UE4Editor_Projects
UE4Editor_Projects
UE4Editor_Projects
UE4Editor
UE4Editor
UE4Editor
UE4Editor
UE4Editor
UE4Editor
kernel32
ntdll

Hi,
I used the SolidWorks to URDF Exporter in order to create the URDF with its STL files from some simple volume shapes (cylinder and box). I also created the XML file but after starting the Unreal Editor, I get the following error:

Please, can you help me?

The AirSim repo has a uproject in it and when it is built is add some dependencies. UrdfSim does not. How do I handle this?

When I build UrdfSim,
./setup.sh
./build.sh
There is not uproject or dependencies in UrdfSim/Unreal/Environments/Blocks.

Thank you for the help!

Hi

The examples don't (as far as I can see) cover how an existing vehicle in the form of assets and blueprints can be incorporated in UrdfSim. Initially I was looking at AirSim but since I have a vehicle that 1) currently have more than 4 wheels 2) will have have a robot arm, AirSim does not fully work. For one if i reparent the blueprint of my vehicle to CarPawn in AirSim only four wheels remain and the rest fall off. The robot arm can be ignored for now, but all wheels needs to be functional.

A first step would be to only being able to set up the sensors on the main body of the vehicle. However, I don't see how I can create the UrdfSim xml-file with my own vehicle, which the is in the form of assets and blueprints (skeleton, mesh, blueprint and physics). It has a main body, joints and wheels etc... just as described in the xml-file but there are no STL-files.
So basically what I need to know is:

1. Do I have to "rebuild" everything (materials, meshes and joints) in the XML-file or can I directly point to the blueprint of my vehicle in the PawnPath (as is done in AirSim) if I only want to set up the sensors and attach them to the correct "AttachLink" in my unreal mesh.

2. Assume that directly linking to the blueprint in the PawnPath is not possible. What goes in to the UrdfFile, the xml-file which is pointed to in the pawn-path in the settings.json? I assume maybe the assets, but how? I do note that the enum ProceduralMeshFileType gives UNREAL_MESH. Can I just set this to be <mesh type="unreal_mesh" location="PATH_TO_THE_MESH_OF_MY_VEHICLE.asset" reverse_normals="true" scale_factor="100"/>.

3. The joints to the wheels are already in the mesh of my vehicle but I note that the urdf xml-file contains joints to the wheels (and other parts). Do I have to put the <joint name> ... in the xml-file to the same names as the joints in my mesh file or can I skip? Assume two cases 1) just putting sensors to the main body of the mesh or 2) also want to control the vehicle.

4. . Do I have to reparent my vehicle to UrdfBotPawn or any other class from UrdfSim? My current machine has WheeledVehicle as Parent Class.

Thanks in advance!

Hi,

I am trying to simulate my own model. I used the LunabotFromMesh.xml as a template but the links of my robot are not shown correctly e.g. base link is above link1 or it is 180° rotated. Is there a way to fix this without playing with the urdf parameters?

Thank you!

<mesh type="stl_ascii" location="F:\SampleUrdf\LunabotParts\Frame3.STL" reverse_normals="true" scale_factor="100" dynamic_collision_type="vhacd" vhacd_concavity="0.2" vhacd_output_folder_path="F:\vhacd"/>

There are a number of Arisim environment released

https://github.com/microsoft/AirSim/releases

Can I use them in URDFsim so that my robots drive in one of the environments there ?

I downloaded an Unreal Environment. Make C++ Class. Copy Plugins. Generate VIsual Studio Project FIles. Then run build from the sln file. However, I got

Anybody has the ideas on how to debug those erros?
Thanks

hello，there have some error when i excute Build.cmd
fatal error C1083: Cannot open include file:
'Eigen/Dense': No such file or directory [D:\A_UnrealEngine\UrdfSim-master\AirLib\AirLib.vcxproj]
.........

how to solve this problem? thank you

I am thinking to pull the latest AirSim repo and apply UrdfSim specific changes to be able to use the latest AirSim repo. When I was browsing the code, I noted that the most of the files that need to be edited are in Unreal/Plugins/AirSim folder. What else should I note?

I succeded in rendering my own URDFbot, However, I am having struggle in compiling my own enviornment to run my URDFBot

If I want to compile my own environment for URDFSIm, Can I just follow

https://microsoft.github.io/AirSim/unreal_custenv/

This procedure, with only minor modification with copying Unreal/Airsim folder from URDFSim folder, not AirsimFolder?
Does this minor modification works?

When I try to insert a URDF into a new map, it is crashing with on these lines of code

Unhandled exception

KERNELBASE
VCRUNTIME140
UE4Editor_AirSim!LinearActuator::ComputeForces() [c:\users\admin\documents\workspace\dataset_synthesizer - copy\source\plugins\airsim\source\vehicles\urdfbot\controlledmotioncomponent\linearactuator.cpp:91]
UE4Editor_AirSim!AUrdfBotPawn::Tick() [c:\users\admin\documents\workspace\dataset_synthesizer - copy\source\plugins\airsim\source\vehicles\urdfbot\urdfbotpawn.cpp:117]

For the first one it looks like it is getting a control signal noopControlSignal > 1.0f I did not write a client to simulate the the arm, for now, I am just trying to insert it into my simulation.

It works when I do not have a map, but when I put it in a room with stuff this issue pops up.

I am interested in getting the robot states.

So, for instance, in the case of the Arm, these states include the joint angles and the position of the prismatic joint of the grippers.

For reference, I am interested in doing some closed loop, probably PID control to move the arm to a particular location and picking it up and moving it.

Thank you!

Correct me if I am wrong, but it seems that there is no API or backend available to do motion planning and control, for instance in ROS, there is moveit.

I am interested in setting the position of the gripper, of the Arm URDF, so that I can pick up an object and move it around. To accomplish this, I will need to do trajectory/motion planning (maybe just inverse kinematics) and then trajectory following (low level control like PID) for each joint.

While I will enjoy writing this kind of code, time is a constraint for me and I was wondering if you had any ideas for backends that we may be able to establish for doing such a tasks.

Hi,

When I tried to import my URDF, I get an error when starting UE:

Error at startup: Error parsing 3-d vector from string , did not detect 3 elements.

Do you have any idea what that could be?

Debug message:

[2020.04.10-21.05.51:458][441]LogContentBrowser: Native class hierarchy updated for 'MovieSceneCapture' in 0.0008 seconds. Added 20 classes and 0 folders.
[2020.04.10-21.05.51:474][441]Cmd: r.CustomDepth 3
[2020.04.10-21.05.51:475][441]r.CustomDepth = "3"
Exception thrown at 0x00007FFA3FDAA859 in UE4Editor-Win64-DebugGame.exe: Microsoft C++ exception: std::runtime_error at memory location 0x00000036FBF6F6A8.
Exception thrown at 0x00007FFA3FDAA859 in UE4Editor-Win64-DebugGame.exe: Microsoft C++ exception: std::runtime_error at memory location 0x00000036FBF6FCD8.
[2020.04.10-21.05.54:578][441]LogSlate: Window 'Error' being destroyed
[2020.04.10-21.05.54:585][441]LogOutputDevice: Warning: 

Script Stack (0 frames):

Ensure condition failed: BeginPlayCallDepth - 1 == CurrentCallDepth [File:D:/Build/++UE4/Sync/Engine/Source/Runtime/Engine/Private/Actor.cpp] [Line: 3384] 

[2020.04.10-21.05.54:586][441]LogOutputDevice: Error: Ensure condition failed: BeginPlayCallDepth - 1 == CurrentCallDepth [File:D:/Build/++UE4/Sync/Engine/Source/Runtime/Engine/Private/Actor.cpp] [Line: 3384] 


[2020.04.10-21.05.54:586][441]LogStats:             FDebug::EnsureFailed -  0.001 s
UE4Editor-Win64-DebugGame.exe has triggered a breakpoint.