Collision model

[tpatten]

The collision model does not correctly match the robot model. The corners of the base go beyond the cylinder of the collision model. @philkark this probably explains why we see collisions with objects because most of the time it is precisely the corners of the base that collide. @ipa-nhg can we use a prism instead of a cylinder?

[NadiaHG]

@tpatten which part do you mean? this one: https://github.com/squirrel-project/squirrel_common/pull/243/files ? the bottom of the base?

[mzillich]

Yes, the bottom of the base. Its collision model is a cylinder, but actually it has these corners, beyond a cylinder. And these are not modelled.

[NadiaHG]

what about use the real stl model of the base?

[mzillich]

yes we could do that. we are doing it for the robotino base itself, right?
if it does not cost much runtime

[NadiaHG]

for the shell I only got this 3d model https://github.com/squirrel-project/squirrel_common/blob/indigo_dev/robotino_description/meshes/squirrel_assembly.stl

that we can do is also remove the robotino base stl, to reduce the RAM consumption

[mzillich]

that's a complex model. i would expect that ti impact on perforance
can we use a rectangle/blox instad od the cylinder to model the corners?

[NadiaHG]

I cut the shell 3d model model https://github.com/ipa-nhg/squirrel_common/blob/ac8f13048d211169b7e98be3654e6985c5024f4a/robotino_description/meshes/base_shell_front_collision.stl

what do you think?

Here the Pr #256

I can draw also a rectangle, but I am afraid this will not work, it is the third model I do for the collision of the shell base.. If you need a perfect balance between a big enough collision but as small as possible I think the only solution is use the real 3d model...

But if you prefer a rectangle, please let me know the measures.

[mzillich]

@philkark is a collision model like the above ok for the planner? not too complex, run-time expenisve?

[mzillich]

anyway, yes lets try that

[tpatten]

After discussion with @philkark we think the complex mesh will be too complex and make collisions checks very slow. Can we just replace the half cylinder with a box instead?

[NadiaHG]

yes, of course!

can you do that? or give me the measures of the box?

[tpatten]

The measure for the box is 48cm wide (we can just make it 50cm for safety). The depth and height can stay the same as the half cylinder in https://github.com/squirrel-project/squirrel_common/pull/243/files.

[NadiaHG]

is this right??

if yes, 50cm is not enough

[tpatten]

A little bit longer so that it covers the front part of the robot model and then this would be perfect

[NadiaHG]

better?