how to add collision to walking actor.
It is said that link have to be child of model, but actor is not a model. But collision can be defined only in a link. My problem is that if I import walking_person from gazebos database into my world then it has collision, but if I define an actor in my world and add same link with collisions to my actor then it doesnt have collision still. Also i want the collision to be during walking. Any suggestions?
Asked by helenh on 2017-07-07 02:42:50 UTC
Answers
The Actor
class inherits from Model
. You can add links to an <actor>
in SDF.. Not sure if that helps you.
What version of Gazebo are you using? Can you also post the world file that you are using?
Asked by nkoenig on 2017-07-07 09:39:37 UTC
Comments
I have posted the code now, that can be seen above.
Asked by helenh on 2017-07-16 08:00:19 UTC
I am using Gazebo 8. I tryed to add the collision link to my actor that is used in walking_person model sdf file in gazebo database, but it didnt work. And right now I have a box collision defined for my terrain. If including the walking_person model to the world then collision seems to work, person is on the collision box that is defined for terrain but with actor its not.
<skin>
<filename>walk.dae</filename>
<scale>1.0</scale>
</skin>
<animation name="walking">
<filename>walk.dae</filename>
<scale>1.000000</scale>
<interpolate_x>true</interpolate_x>
</animation>
<script>
<loop>true</loop>
<delay_start>0.000000</delay_start>
<auto_start>true</auto_start>
<trajectory id="0" type="walking">
<waypoint>
<time>1.000000</time>
<pose>0 0 8 0.000000 0.000000 -1.47</pose>
</waypoint>
<waypoint>
<time>1.000000</time>
<pose>-1 0 8 0.000000 0.000000 -1.47</pose>
</waypoint>
<waypoint>
<time>1.500000</time>
<pose>-2 0 8 0.000000 0.000000 -1.47</pose>
</waypoint>
<waypoint>
<time>2.000000</time>
<pose>-3 0 8 0.000000 0.000000 -1.47</pose>
</waypoint>
<waypoint>
<time>2.500000</time>
<pose>-4 0 8 0.000000 0.000000 -1.47</pose>
</waypoint>
<waypoint>
<time>3.000000</time>
<pose>-5 0 8 0.000000 0.000000 -1.47</pose>
</waypoint>
</trajectory>
</script>
<link name="link">
<inertial>
<pose>0 0 0.95 0 0 0</pose>
<mass>80.0</mass>
<inertia>
<ixx>27.82</ixx>
<ixy>0</ixy>
<ixz>0</ixz>
<iyy>24.88</iyy>
<iyz>0</iyz>
<izz>4.57</izz>
</inertia>
</inertial>
<collision name="bottom">
<pose>0 0 8 0 0 0</pose>
<geometry>
<box>
<size>0.35 0.75 0.02</size>
</box>
</geometry>
</collision>
</link>
Asked by helenh on 2017-07-16 05:07:18 UTC
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