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moveit / moveit_core

THIS REPO HAS MOVED TO https://github.com/ros-planning/moveit
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Wrong vertices order when dae contains normals #225

Closed ahoarau closed 8 years ago

ahoarau commented 9 years ago

Hello,

I'm trying to read and publish the vertices point from the collision meshes. It works great if the dae files does NOT contain normals (in meshlab you can export your STL files to DAE with or without normals). A few examples : https://github.com/ahoarau/robot_model_to_pointcloud

I'm using using simply : getLinkModelsWithCollisionGeometry -> getShape -> vertices (3k), vertices (3k+1), vertices (3k+2) and getGlobalCollisionBodyTransform

But if the dae files contains normals, like the baxter, it seems to be rotated by pi/2 around x : baxter_w

If I export the dae (let's say the base) without the "normals" option, it works : baxter_wo

Note : I'm using Ubuntu 12.04 + ROS Groovy

mikeferguson commented 8 years ago

Groovy is no longer supported, no action on this ticket in over a year, closing ticket as we are porting this repo -- if this is still an issue, please open a new ticket against https://github.com/ros-planning/moveit