The collision and visual mesh don't match with each other

I try to attach an object with the end effector of Franka arm. However, when I render collision mesh, I find the orientation of the collision mesh is different from visual mesh.

To attach the object with the end effector, I modify the urdf file.
franka_panda.urdf (8.7 KB)
USB_Male_vhacd2.obj (159.7 KB)

The rendering of my visual and collision looks like follows.


2 Likes

Same issue here… Hope we can get an answer.

1 Like

Hey guys,

maybe try to set asset_options.flip_visual_attachments to the opposite value?

Best,
Jin

The default flag of flip_visual_attachments is set True, you can set it as False