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Collision shapes of CustomRobot

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Hi Jacobi team,

When loading a CustomRobot from a URDF, I'm wondering what is happening regarding collision shapes.

  1. I am not sure if the collisions shapes described in the URDF are actually loaded or not. (Playing a bit with the Robot object, I have the impression they are, but they might be messed up because of point 2 below.)
  2. Reading the documentation, I have the impression that a single collision shape is expected per link.
  3. I am not sure if the collision shape can be a primitive shape or if it needs to be specified as a mesh.

Could you please give more some more explanations on this topic and/or maybe extending the related documentation?

Thank you very much

Alban Laflaquiere

4 months ago

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Jonathan Tai

Hi Alban! CustomRobot currently requires a specificified collision mesh per link, and our URDF parser currently loads in a single collision mesh per link only. We currently don't have too much in depth documentation on this feature as it is in a beta preview state, but you can find our basic documentation on it here. I imagine this is probably what you were already looking at.

Is there specific functionality that you would expect CustomRobot to be able to perform? Can I ask aobut what kind of URDFs you intend to use with this feature?

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Alban Laflaquiere

Hi Jonathan,

Right now I am considering a simple single arm URDF. But:

  • it includes more than 1 collision shape for some links
  • some collisions shapes are defined as primitives instead of meshes

If I understand correctly, to use the CustomRobot class, I would need to modify our URDF to point to a single mesh per link that would encompass the current multiple collision shapes. Is that correct?
Also, could this mesh be non-convex?

Thanks,

0    3 months ago    Reply

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Jonathan Tai

@Alban Laflaquiere: Yes, as of now you would need to modify the URDF to point to a single mesh per link. That mesh would encompass the current multiple collision shapes. If the mesh is non-convex we do generate a convex hull for the mesh, however if you require more precision in your convex representation, you can also upload a representative convex mesh instead

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Jonathan Tai changed status to 💬 Open

3 months ago

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Alban Laflaquiere
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