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The trimesh collision shapes currently use a different collision detection algorithm than the simple shapes (box, sphere, cylinder), which tends to cause different contact behavior. If you are able to build the latest version of gazebo from source (default branch), then you can try creating some objects with the collide_without_contact flag set and View Contacts enabled. The will allow you to see the location of contact points computed by the collision detection algorithm without generating contact forces. Here's an example world that has objects with the collide_without_contact flag. For observing the contact points, you may want to turn off gravity and View Transparent.