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sea-bass / ycb-tools

Tools to download models from the YCB dataset and use them with the Gazebo simulator.
MIT License
98 stars 28 forks source link

Sliding in some objects #1

Closed GitSRealpe closed 3 years ago

GitSRealpe commented 3 years ago

Hi, any idea on why the objects slide?, or better, how to stop it?

We been using this data-set for a project and implemented a similar approach using trimesh to generate the objects properties for the SDF like you did, but some of them start sliding or having some jittering in Gazebo and we haven't found out why.

(We used a different method for the collision models with Meshlab and its quadric edge collapse decimation process, and also got sliding problems.)

sliding

Also thanks for uploading this code, it was a pain for us when we had to do it.

sea-bass commented 3 years ago

I think downsampling the meshes randomly and not filling them will mess with the physics, as you have seen.

The better thing to do may be to manually create simple primitives (e.g. the hammer can be made of 2 boxes) and use those as the collision mesh while retaining the high-res visual meshes.

GitSRealpe commented 3 years ago

The better thing to do may be to manually create simple primitives (e.g. the hammer can be made of 2 boxes) and use those as the collision mesh while retaining the high-res visual meshes.

Yep, seems like the best option, thanks for answering.