Bounding box of imported model is not accurate

asked 2022-07-13 00:15:25 -0500

gazeboy gravatar image

Hello all,

I am using Gazebo 11.1, and as you may know, when you click on a model, a white bounding box appears. I would like to know if there is a way to control the size of this bounding box for a custom model/mesh.

For context, I have made a person using MakeHuman and edited it in Blender. I exported the final model as a collada file (.dae) and edited the file so that it looks nice in Gazebo. All is well except the white bounding box is a large cube about a little taller than the model instead of a nice tight rectangle.

I have tried using scale, mesh, and box tags inside collision tags in the .world file and the model's .sdf file but the bounding box remains unaffected. I double checked the mesh in Blender to make sure there are no invisible geometries and there are none. I double checked the mesh in MeshLab and using the Render>Show Box Corners to show the mesh bounding box and it appears tight on the model.

I suspect it has something to do with the .dae file because normally importing a model from MakeHuman to Blender results with the figure's feet flat on the XY plane and exporting the collada file and importing it into Gazebo results with white bounding box being displayed on the lower half of the model, leaving the upper half of model visible but not selectable. The remedy to this is to move the model so the center of the model is in the XYZ origin.

Any help or insight would be greatly appreciated.

Thank you.

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