I know that collision detection/avoidance is what bullet is all about but I really just want to use it as a visualizer for robot stuff (like rviz but without ros) because it is very easy to setup.
So far for testing I am just loading robots via the URDF loader and they are going crazy when spawned into each other.
Now my question is: How can I either:
a) globally disable collisions or
b) disable collisions per object?
In another thread I found someone recommending setting a flag `CF_NO_CONTACT_RESPONSE` in the C++ code, but I haven't found that one in the pybullet lib and wouldn't know how to apply this. I was hoping that the URDF loader has this somehow as an optional flag, but not from what I saw.
Thanks so much in advance.
How to disable collisions?
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- Posts: 9
- Joined: Fri Oct 06, 2017 8:42 am
Re: How to disable collisions?
You can use visual shapes without collision shapes. For example, your URDF code can be:
Code: Select all
<?xml version="1.0"?>
<robot name="cube">
<link name="base_link">
<collision>
<geometry>
<box size="0 0 0"/>
</geometry>
</collision>
<inertial>
<mass value="0"/>
<inertia ixx="0" ixy="0" ixz="0" iyy="0" iyz="0" izz="0"/>
</inertial>
<visual>
<geometry>
<box size="1 1 1"/>
</geometry>
</visual>
</link>
</robot>
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- Location: California, USA
Re: How to disable collisions?
I just implemented a few ways to do it:
Disable collisions per object pair / link:
or disable collisions per group of objects:
Disable collisions per object pair / link:
Code: Select all
enableCollision= 0
pybullet.setCollisionFilterPair(objectUniqueIdA, objectUniqueIdB, linkIndexA, linkIndexB, enableCollision)
Code: Select all
group = 0#other objects don't collide with me
mask=0 # don't collide with any other object
pybullet. setCollisionFilterGroupMask(objectUniqueId, linkIndex, group, mask)
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- Posts: 2
- Joined: Fri May 04, 2018 7:21 pm
Re: How to disable collisions?
Thank you so much guys I will try it out immediately.
I am so glad this was answered after all.
I am so glad this was answered after all.
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- Posts: 1
- Joined: Fri Oct 16, 2020 3:08 pm
Re: How to disable collisions?
Hi Erwin,
If an object is fully masked (like you proposed), will it still have any affect on the physical simulation?
thanks
If an object is fully masked (like you proposed), will it still have any affect on the physical simulation?
thanks