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Hello Stefan,

I do understand what your are talking about, and I thank you for your time, but this is not the case, I am quite sure about it. With complex models weird things happen: for instance by launching the same model two times in a row I happen -and very often !- to get different alignments for one joint. How could this be possible, without changing the urdf? It is very intriguing. Furthermore, changing the origin with a non-neglectable offset would often NOT produce any changes!

And there is more! I had a complicated 7-joint robot arm to assemble without knowing the exact distances and I tried to do it by iterative guessing. When I was close enough rviz connected the two stl by himself

My guess is that there has to be an algorithm in rviz/gazebo which detects the good matches between different faces (set of triangles) in an stl geometry and fits them together.

Does anyone have any precise idea?

Thanks

Hello Stefan,

I do understand what your are talking about, and I thank you for your time, but this is not the case, I am quite sure about it. With complex models weird things happen: for instance by launching the same model two times in a row I happen -and very often !- to get different alignments for one joint. How could this be possible, without changing the urdf? It is very intriguing. Furthermore, changing the origin with a non-neglectable offset would often NOT produce any changes!

And there is more! I had a complicated 7-joint robot arm to assemble without knowing the exact distances and I tried to do it by iterative guessing. When I was close enough rviz connected the two stl by himself

My guess is that there has to be an algorithm in rviz/gazebo which detects the good matches between different faces (set of triangles) in an stl geometry and fits them together.together. (By the way, Meshlab does it automaticaly, but I don't know why and how either )

Does anyone have any precise idea?

Thanks