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Bullet Physics SDK: real-time collision detection and multi-physics simulation for VR, games, visual effects, robotics, machine learning etc.
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Is vhacd the best for detail collision shape? #4322

Open hyuh0810 opened 2 years ago

hyuh0810 commented 2 years ago

Hi,

I have been setting up a contact-rich environment for reinforcement learning and using v-hacd provided by pybullet, obj file was loaded as convex hull mesh

But collision shape is different from original obj file, there is a problem in performing contact-rich task. Is there any other way for detail collision mesh? (Or is it an inherent the physical engine' issue?)

thank you

hyuh0810 commented 1 year ago

This paper is good for me understand the above problem : https://sites.google.com/nvidia.com/factory/

jadon995 commented 1 year ago

Hi. I am having the same problem in simulating a contact-rich task. Do you have any solutions to this problem?

hyuh0810 commented 1 year ago

@jadon995 I'd looked it up for a while, and here's my opinion. If you want to load static parts, you can use triangle mesh see #2531 also you can find this information in the pybullet documentation.

But if you want to load moving parts(like robot ee), you cannot use triangle meshes, but rather convex hulls. therefore I recommend using VHACD

baldr08 commented 8 months ago

hello,I face the problem that my robots endeffector cant touch completly with a curved face,as shown in the figrue Snipaste_2023-12-12_16-15-48 ,I tried to add concave="yes" to link label of the urdf,but they still cant touch compeletly.Do you have any solutions to this problem? thank you.