pybullet collision masks

Official Python bindings with a focus on reinforcement learning and robotics.
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MIT
Posts: 6
Joined: Fri Nov 03, 2017 8:21 pm

pybullet collision masks

Post by MIT » Fri Apr 20, 2018 8:22 pm

Is there any way to use collision masks via pybullet? Being able to specify masks inside a urdf would also be acceptable. Right now I'm stuck either turning off self collisions or trying to approximate the geometry with cylinders, but the later isn't really a good solution for my current model.

ardabbour
Posts: 9
Joined: Fri Oct 06, 2017 8:42 am

Re: pybullet collision masks

Post by ardabbour » Sun Apr 29, 2018 10:21 am

I am not exactly sure what you mean, but you can identify different visual shapes and collision shapes in your URDF file.

fermidirac
Posts: 2
Joined: Sat Mar 31, 2018 1:40 am

Re: pybullet collision masks

Post by fermidirac » Sun Jun 10, 2018 9:54 pm

I've also been looking for this.
The C++ code clearly supports bitmasks, but I can't find out how to get it in pybullet. Its entirely possible its not part of the exposed API.
Perhaps if we both add it as an issue?

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