collision checking with geometric bodies

[baxelrod]

I have a robot arm that I constructed with only <Geom type=”cylinder”> tags in the xml.  Self collisions don’t seem to be found.  Does OpenRave only check for collisions of trimesh bodies?  From what I have seen, a collision between 2 cylinder primitives does not register.  But a collision between a cylinder and a trimesh does.

 

Is this expected behavior?  Or am I missing an xml tag or something?

 

OpenRave version 0.8.2 on Ubuntu 12.04.

 

Thanks,

Ben

 

Ben Axelrod

Sr. Robotics Software Engineer

iRobot Corporation

8 Crosby Drive, M/S 8-1

Bedford, MA 01730

[phone]

[hidden email]

 

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[Rosen Diankov]

hi ben,

i think it's the way you compiled ode library. you have to add special switches to enable cylinder/cylinder collisions. if this is a huge problem for you, we convert the cylinders to trimeshes, or use a different checker like bullet (but that's even slower).

rosen,

2014-03-19 6:37 GMT-07:00 Axelrod, Ben <[hidden email]>:

I have a robot arm that I constructed with only <Geom type=”cylinder”> tags in the xml.  Self collisions don’t seem to be found.  Does OpenRave only check for collisions of trimesh bodies?  From what I have seen, a collision between 2 cylinder primitives does not register.  But a collision between a cylinder and a trimesh does.

 

Is this expected behavior?  Or am I missing an xml tag or something?

 

OpenRave version 0.8.2 on Ubuntu 12.04.

 

Thanks,

Ben

 

Ben Axelrod

Sr. Robotics Software Engineer

iRobot Corporation

8 Crosby Drive, M/S 8-1

Bedford, MA 01730

<a href="tel:%28781%29%20430-3315" value="[phone]" target="_blank">[phone]

[hidden email]

 

------------------------------------------------------------------------------
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"Graph Databases" is the definitive new guide to graph databases and their
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http://p.sf.net/sfu/13534_NeoTech
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------------------------------------------------------------------------------
Learn Graph Databases - Download FREE O'Reilly Book
"Graph Databases" is the definitive new guide to graph databases and their
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this first edition is now available. Download your free book today!
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