Obtain robot surface points physics engine

asked 2015-04-16 08:09:17 -0500

Albert Climent gravatar image

Hi all,

I am new in the forum. I started to work with gazebo a few month ago, so I am not an expert on Gazebo. My problem is that I am working on collision detection and I am interested to obtain a matrix nx3 containing the 3D points of the robot surface. I have them on a mesh file, and I can do it manually reading the file and rotate them and all that, but it would be much easier if I could read directly form the physical engine(ODE). I have seen the contact class, but it just give me the points where the contact is, not all the points on the surface.

Thanks in advance!

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