It is likely there are too many vertices in collision geometry
when I run move_goup , I get a warning message that It is likely there are too many vertices in collision geometry.
what is mean about this?
Asked by clark_txh on 2016-11-03 22:41:26 UTC
Answers
This was a warning that was recently added to MoveIt that tells you that the meshes (*.stl, *.dae or something else) that you configured your urdf model to use (in your <geometry><mesh filename="..">...</geometry> tags) are probably (way) to detailed (have too high a face and / or vertex count).
If those are too detailed, collision checking will become slow, but the results will not necessarily be significantly better.
People typically create special collision meshes by creating convex hulls. If that is not possible (because of holes in your geometry that need to be preserved), creating a subsampled version of your meshes is a good way to do this.
Asked by gvdhoorn on 2016-11-04 02:56:54 UTC
Comments
Wouldn't alpha shapes work a lot better?
Asked by NEngelhard on 2016-11-04 04:41:38 UTC
There are many more ways to generate proper collision geometry (convex decomposition, bounding meshes, etc). I just wanted to give an example
The important point is that you shouldn't be using detailed meshes for collision checking purposes (or at least: not too detailed meshes).
Asked by gvdhoorn on 2016-11-04 04:59:50 UTC
The thing which worked for me was using the Decimate Modifier in Blender to reduce vertices.
I personally used the Collapse function to reduce the vertices depending upon a ratio instead of Un-Subdivide as it saturates after subsequent iterations.
References:
Asked by LSD on 2022-03-25 03:46:55 UTC
Comments