modelling floor with moveit

asked 2016-04-06 08:10:25 -0500

shangl gravatar image


i would like to model an (infinite) flat floor such that moveit can't plan crashes with the floor. is that possible?

cheers simon

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I don't know about infinite, but would a rather large square do? If so, add it to your urdf (then run the setup assistant again) so it becomes a static part of your scene. Or add it dynamically as a Collision Object.

gvdhoorn gravatar image gvdhoorn  ( 2016-04-07 03:39:16 -0500 )edit

hi gvdhoorn. thanks for your response thats how we did it in the end. its kind of disappointing that moveit only provides such a "hacky" solution

shangl gravatar image shangl  ( 2016-04-07 07:44:29 -0500 )edit

Why do you feel it is hacky? MoveIt is rather abstract, and has no native concept of a 'floor' (why should it). So adding appropriate collision geometry seems like a perfectly normal thing to me?

gvdhoorn gravatar image gvdhoorn  ( 2016-04-07 08:13:49 -0500 )edit