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gramaziokohler / rfl_description

This repository contains the RFL description and moveit package
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Adding virtual mesh to RFL's world link #1

Closed yijiangh closed 4 years ago

yijiangh commented 4 years ago

@matteo-pacher Would you mind helping me adding the following session to the RFL urdf here: https://github.com/gramaziokohler/rfl_description/blob/master/rfl_description/urdf/rfl.urdf#L15

    <visual>
      <origin rpy="0.0 0.0 0.0" xyz="0.0 0.0 0.0"/>
      <geometry>
        <mesh filename="package://rfl_description/meshes/visual/rfl_floor_and_columns.stl"/>
      </geometry>
    </visual>

Without this visual mesh, the RFL parsed in pybullet will have a huge convex box enclosing the whole workspace, blocking the view. This is a result of its convex approximation to all the collision objects.

matteo-pacher commented 4 years ago

ok;