Real-Time Physics Simulation Forum 2020-12-01T23:33:35+00:00 https://pybullet.org/Bullet/phpBB3/app.php/feed/topic/13115 2020-12-01T23:33:35+00:00 2020-12-01T23:33:35+00:00 https://pybullet.org/Bullet/phpBB3/viewtopic.php?p=43206#p43206 <![CDATA[STL Colision problem]]>
To put it simple, I have issues when loading a urdf representing a fractal ground linking to a stl. Collisions are not working as I thought they would. The visual representation is fine, but the collisions are not working.

Here is some pictures :
Screenshot from 2020-11-27 13-16-40.png
Screenshot from 2020-11-27 13-16-13.png
You can clearly see the robot is colliding with something, but it doesn't match the visual representation of my ground, thus we can observe a floating effect.

Here is the URDF file :

Code: 

<?xml version="1.0" ?><robot name="plane">    <link name="planeLink">        <inertial>            <origin rpy="0 0 0" xyz="0 0 0"/>            <mass value=".0"/>            <inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>        </inertial>        <visual>            <origin rpy="0 0 0" xyz="0 0 0"/>            <geometry>                <mesh filename="fractalPlane4.stl" scale="1 1 1"/>            </geometry>            <material name="white">                <color rgba="1 1 1 1"/>            </material>        </visual>        <collision>            <origin rpy="0 0 0" xyz="0 0 0"/>            <geometry>                <mesh filename="fractalPlane4.stl"/>            </geometry>        </collision>    </link></robot>
and here is the stl file :

https://gitlab.com/UgoRoux/stl_file

Thanks in advance!



EDIT :

I solved my problem by using createVisualShape and createCollisionShape instead of load URDF.
The createCollisionShape can be used with the flag: GEOM_FORCE_CONCAVE_TRIMESH.

Statistics: Posted by Yougo — Tue Dec 01, 2020 11:33 pm

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