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The order of collision1~2 objects from contact sensor

asked 2013-01-17 11:45:23 -0500

Daehyung Park gravatar image

From contact sensor, we can get contact objects (gazebo::physics::Contact).

The contact object includes followings.

std::string     collision1
    Name of the first collision object.

std::string     collision2
    Name of the second collision object.

How does Gazebo decide the order ?

And, how about following? Assumption:

(1) There is a contact between link_1 and link_2, 
(2) link_1 has contact sensor.

Among the resulted contact objects from sensor, if the objects' elements are like following,

 (1) collision1 specifies link_1
 (2) collision2 specifies link_2

wrench(i).body1force in those objects are forces from link2 to link1. Am I right?

The '1,2' things make me really confused. I really need help. Thanks.

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answered 2013-07-23 17:53:43 -0500

nkoenig gravatar image

The order of reported collisions is non-deterministic.

The wrenches reported by a contact sensor are the forces between the two links in contact.

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Asked: 2013-01-17 11:45:23 -0500

Seen: 381 times

Last updated: Jul 23 '13