Collisions using meshes in DART
Hi all,
these days I am trying to use DART as dynamic engine for my GAZEBO simulations. I am running in a problem, I think i the same as the one that I had with simbody some times ago. Basically I have collisions only with part of the model that are made by primitive shapes and not with meshes. You can see the behavior in the following picture:
as you can see the contact is only present at the feet that are made by basic cube shapes while the other shapes made using meshes does not have contacts.
Asked by Enrico Mingo on 2014-05-12 07:29:32 UTC
Answers
This is a known issue. It has been implemented in branch gazebo_3.0_dart_4.0 branch, which hasn't yet been merged into a release branch. Can you try that branch?
Asked by scpeters on 2014-05-14 11:01:42 UTC
Comments
Hi! So I have downloaded the branch gazebo_3.0_dart_4.0 but if I try to run my robot with my modules GAZEBO crashes. I have also tried to insert some model like the 20Ton Cube and the drill but still they disappear in the floor while the tablo or the bookshelf no. Do you know some flags that I can use lunching GAZEBO to check the errors (maybe gdb is enough???)?
Thx!
Enrico
Asked by Enrico Mingo on 2014-05-17 07:09:46 UTC
Comments
Are you using gazebo --verbose -e dart?
Asked by scpeters on 2014-05-19 04:39:11 UTC
Ok, I just did it, basically I got a lot of warnings:
[Wrn] [DARTMeshShape.cc:55] Not implemented!
[Wrn] [Model.cc:569] Calling Model::GetJoint(WaistSag) with un-scoped joint name is deprecated, please scope
[Wrn] [JointController.cc:289] Setting joint position is disabled, see issue #1138
And then, after the loading of the robot, GAZEBO close.
Asked by Enrico Mingo on 2014-05-19 05:00:30 UTC
Just to be more accurate: I launch gazebo with the optirun command.
Asked by Enrico Mingo on 2014-05-19 05:04:22 UTC
Furthermore, I have the same crashing problem also using other dynamic engines. I think the problem is related with the one that I have with the normal 3.0.0 as I wrote in this other topic: http://answers.gazebosim.org/question/5958/gazebo-300-stability-issue/
Asked by Enrico Mingo on 2014-05-19 05:39:21 UTC
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