Ask Your Question

It is likely there are too many vertices in collision geometry

asked 2016-11-03 22:41:26 -0600

clark_txh gravatar image

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?

edit retag flag offensive close merge delete

1 Answer

Sort by ยป oldest newest most voted

answered 2016-11-04 02:56:54 -0600

gvdhoorn gravatar image

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.

edit flag offensive delete link more


Wouldn't alpha shapes work a lot better?

NEngelhard gravatar image NEngelhard  ( 2016-11-04 04:41:38 -0600 )edit

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).

gvdhoorn gravatar image gvdhoorn  ( 2016-11-04 04:59:50 -0600 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools



Asked: 2016-11-03 22:41:26 -0600

Seen: 499 times

Last updated: Nov 04 '16