I am playing around with the kuka iiwa simulation and just swapping a UR10 urdf for the kuka-iiwa urdf. I currently have the following code.

tree = RigidBodyTree(FindResource("UR/urdf/ur10_robot.urdf"))

Assemble IK constraints

iiwa_urdf_path = os.path.join(pydrake.getDrakePath(), "manipulation", "models", "iiwa_description", "urdf", "iiwa14_polytope_collision.urdf")
UR_urdf_path = FindResource("UR/urdf/ur10_robot.urdf")

rbt = RigidBodyTree()
table_top_z_in_world = 0.736 + 0.057 / 2
robot_base_frame = RigidBodyFrame("robot_base_frame", rbt.world(), [0.0, 0, table_top_z_in_world], [0, 0, 0])
AddModelInstanceFromUrdfFile(UR_urdf_path, FloatingBaseType.kFixed, robot_base_frame, rbt)

print iiwa_urdf_path
print UR_urdf_path

Whenever I use the UR urdf path, I get the following error:

RuntimeError: Error parsing file "/home/me/underactuated/src/UR/urdf/./meshes/ur10/collision/base.stl.obj" : WARN: Material file [ /home/me/src/UR/urdf/./meshes/ur10/collision/base.stl.obj.mtl ] not found.
WARN: Failed to load material file(s). Use default material.

Do you know more about this?

When I compute the inverse kinematics of a trajectory from Point A to Point B using the following command:
results = ik.InverseKinTraj(tree, ts, q_seed, q_nom, constraints, options)

I can access the results using results.info[0].

I assume if results.info[0] returns 1, then the IK was feasible and if it returns a value other than 1, then the IK was not feasible. Is this a correct assumption?

In addition, for the full trajectory, results.info[0] only returns one value. I would have though that it would return an array of values where each result corresponds to a single knot point in the IK trajectory. Since it only return one value, what point does that correspond to? Is it the final point in the IK trajectory? Or does a value other than 1 mean that one of the points was infeasible in the entire trajectory and a returned value of 1 means that ALL of the points in the trajectory are feasible?

Once you have the q_traj vector from computing the IK, is there a straightforward way to pass that into the meshcat visualizer to visualize the trajectory? I am trying to understand what aspects of the kuka_sim file are needed for visualizing the trajectory.

I currently have a function that computes q trajectory of a robot arm from point A to point B where point A and B are very close in space. For my constraints matrix, I have a WorldPositionConstraint and a WorldEulerConstraint. Whenever I add a MinDistanceConstraint:

constraints.append(ik.MinDistanceConstraint(tree, collision_tol, id_collision_body, set()))

where id_collision_body is the collision index of all the bodies in the rigid body tree and collision tol is a very small number (ie 0.0001), I get the following warning when I run the script:

[2018-11-13 18:06:07.338] [console] [warning] Attempting to compute distance between two collision elements, at least one of which is non-convex.
[2018-11-13 18:06:07.338] [console] [warning] Attempting to compute distance between two collision elements, at least one of which is non-convex.
[2018-11-13 18:06:07.342] [console] [warning] Attempting to compute distance between two collision elements, at least one of which is non-convex.

then whenever I output result.info[0] of my ik script, I get a number not equal to 0. (I am guessing 1 means there was an IK solution and a number that is not equal to 1 means there is no IK solution for the given point).

However, when I visibly look at the UR in meshcat, it seems to be a doable position. Would you have any information on this?

When I take out MinDistanceConstraint, I don't get this problem and the result.info[0] is equal to 1.

Whenever I run meshcat-server, and navigate to the url, I get an error 404: not sound in the url and these errors:
WARNING:tornado.access:404 GET /static/ (127.0.0.1) 1.24ms
WARNING:tornado.access:404 GET /favicon.ico (127.0.0.1) 0.32ms
WARNING:tornado.access:404 GET /static/ (127.0.0.1) 0.65ms
WARNING:tornado.access:404 GET /favicon.ico (127.0.0.1) 0.34ms
in my terminal. Any advice ?