link orientations in multibody are getting affected by another multibody loaded from stl.
Posted: Wed Dec 07, 2022 4:48 pm
I was trying to procedurally creates some utensils and place them inside the sink model I had to load from an stl file.
if I load the sink model first, the link orientations in the bowl multibody are all messed up.
but if I create the procedural multibodies first, and then load the sink mesh from stl. the orientations are as expected.
I also tried by uncommenting the first few arguments.
I'm developing code in jupyter notebook.
the orientations in both cases are also same. I checked the diff in an online tool.
please let me know if you need any additional data.
if I load the sink model first, the link orientations in the bowl multibody are all messed up.
but if I create the procedural multibodies first, and then load the sink mesh from stl. the orientations are as expected.
Code: Select all
mbid = p.createMultiBody(
# 0,
# -1,
# -1,
# (0,0,0),
# (0,0,0,1),
linkMasses=[0]*lns,
linkCollisionShapeIndices=col_shapes,
linkVisualShapeIndices=col_shapes,
linkPositions=col_shape_poses,
linkOrientations=col_shape_orns,
linkInertialFramePositions=[(0,0,0)]*lns,#col_shape_poses,
linkInertialFrameOrientations=[(0,0,0,1)]*lns,#col_shape_orns,
linkParentIndices=[0]*lns,
linkJointTypes=[p.JOINT_FIXED]*lns,
linkJointAxis=[(0,0,0)]*lns,
physicsClientId=pbClientId)
I'm developing code in jupyter notebook.
the orientations in both cases are also same. I checked the diff in an online tool.
please let me know if you need any additional data.