daslrobotics/openHubo — Issue #3: PQP Collision issue
Author: robEllenberg
Created: 2011-12-06 20:48:04+00:00
State: open

When physics + gravity is turned on with PQP collision detection, the lower body will pass right through static objects. This is likely due to the collision geometry being specified as trimesh data. The collision models for the upper body are geometric primitives.

Workaround: Use ODE collisions
Long-term solution: Approximate lower bodies with primitives using Inventor, manually transfer to OpenRAVE model. This may speed up planning as well, since the trimesh collision data currently has thousands of facets.