first of all Merry Xmas!
I am new to pybullet and want to perform a collision detection self contact and contact with several closed loop systems installed next to each other.The geometry is created in Creo and exported as obj files.
I read now tons of sites and have several questions:
1. I came to the conclusion, that the urdf file import in not possible for closed loop systems. Is that correct?
2. Because of 1, I have generated a .py file where I define a CollisionShape for each component like shown below
Code: Select all
p0 = p.createCollisionShape(p.GEOM_MESH,
halfExtents=[0, 0, 0],
fileName="obj/part0.obj",
collisionFramePosition=shift0,
meshScale=meshScale)
Code: Select all
mla = p.createMultiBody(body_Mass,p0,visualShapeId,basePosition,baseOrientation,
linkMasses=link_Masses,
linkCollisionShapeIndices=linkCollisionShapeIndices,
linkVisualShapeIndices=linkVisualShapeIndices,
linkPositions=linkPositions,
linkOrientations=linkOrientations,
linkInertialFramePositions=linkInertialFramePositions,
linkInertialFrameOrientations=linkInertialFrameOrientations,
linkParentIndices=indices,
linkJointTypes=jointTypes,
linkJointAxis=axis)
3. If I use pybullet headles, how can I detect collisions / get an output somewhere, e.g. textfile
Thanks in advance for your help