Add MESH into planning scene collision object FAILED [closed]

asked 2012-03-10 14:55:10 -0500

Paul Yang gravatar image

updated 2012-03-10 18:34:20 -0500

Hi all,

I've been trying to add meshes into collision object, but always get error: "Unable to compute convex hull"

trimesh_object.type = arm_navigation_msgs::Shape::MESH;
for (int i = 0; i < 3; i++) {
    geometry_msgs::Point p;
    p.x = i;
    p.y = i+1;
    p.z = i+2;

// then add {0, 1, 2} into trimesh_object.triangles
// ...


geometry_msgs::Pose pose;


planning_scene_req.planning_scene_diff.collision_objects.push_back(collision_object);, planning_scene_res) ...

I've followed the instructions on Tutorials/PlanningScene/AddingVirtualObjectsToThePlanningScene

All I'm trying to do is just to add a simple triangle into the scene, but so far no luck. The above code just adds {0,1,2},{1,2,3},{2,3,4} into it. I also tried {0,0,1},{0,1,0},{1,0,0}. Nothing works.

I don't get why there's "unable to compute convex hull" error. Thanks in advance.

Best, Paul

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Closed for the following reason question is not relevant or outdated by tfoote
close date 2014-12-07 00:52:12.547555


Maybe a triangle is a degenerate corner case for convex hull computation, as the convex hull would have zero volume? Have you tried for example with a tetrahedron?

Stefan Kohlbrecher gravatar image Stefan Kohlbrecher  ( 2012-03-10 21:15:46 -0500 )edit