Real-Time Physics Simulation Forum 2018-02-07T03:57:25+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/12008 2018-02-07T03:57:25+00:00 2018-02-07T03:57:25+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=40405#p40405 <![CDATA[Re: Geometry resolution importing from URDF]]> Statistics: Posted by Erwin Coumans — Wed Feb 07, 2018 3:57 am

]]> 2018-02-01T10:51:44+00:00 2018-02-01T10:51:44+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=40382#p40382 <![CDATA[Geometry resolution importing from URDF]]>
wh.png
While I am not so much interested in the visual appearance, I can imagine that this also affects collision.

Question is, how can I increase the resolution of *collision* geometry when importing? Is it a URDF thing or pybullet?

Thank you.

Partial URDF is below:

Code: 

<link name="l_wheel">    <visual>      <geometry>        <cylinder length="0.02" radius="0.05"/>      </geometry>      <origin rpy="0 1.5707963 0" xyz="0 0 0"/>      <material name="black"/>    </visual>    <collision>      <geometry>        <cylinder length="0.02" radius="0.05"/>      </geometry>      <origin rpy="0 1.5707963 0" xyz="0 0 0"/>      <contact_coefficients mu="0.8" />    </collision>    <inertial>      <mass value="0.1"/>      <inertia ixx="0.0001" ixy="0.0" ixz="0.0" iyy="0.0001" iyz="0.0" izz="0.0001"/>      <origin rpy="0 0 0" xyz="0 0 0"/>    </inertial>  </link>

Statistics: Posted by yconst — Thu Feb 01, 2018 10:51 am

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