Cannot add box collision collision object about relaxed_ik HOT 3 CLOSED

Hi, I seem to remember getting this kind of error a while ago. Could you first try copying and pasting the exact box parameters again, so it reads as:

robot_link_radius: 0.05
sample_states: [[-0.85657, -0.18703, 0.18963, 1.77668, 0.84847, 1.0535], [1.01675, 0.40612, 0.06659, 0.93393, -1.17729, -0.62849], [-0.17209, 0.25656, 0.08641, 0.5847, -0.1266, 1.39353], [0.09171, -0.42917, 0.0411, -0.13787, 0.01052, 0.34674], [-0.69866, 0.67231, 0.00311, -1.37154, 0.87735, -0.39271], [-0.54174, 0.54556, 0.05997, -0.65263, -0.58567, -0.35845], [-1.52783, 0.39143, 0.02623, 1.81542, 1.03184, 0.00192], [-1.03257, -0.35803, 0.15493, -1.37735, 0.28299, 0.49498], [-0.58533, -0.71106, 0.12337, -0.49909, -1.22449, -0.57998], [0.07072, 0.59088, 0.1052, -1.69021, -0.04991, 0.45641], [0.76369, 0.34258, 0.1018, -0.42078, 0.90131, -1.51509], [-0.77521, -0.64356, 0.11783, -1.27076, -1.39859, -1.45367], [-1.13214, -0.54064, 0.13576, 0.58941, -0.36877, 1.44977]]

boxes:

• name: box1
  parameters: [10,10,0.5] # r
  coordinate_frame: 0
  rotation: [0,3.14,0]
  translation: [0, 0.000, -0.5]
• name: box1
  parameters: [10,10,0.5] # r
  coordinate_frame: 0
  rotation: [0,3.14,0]
  translation: [0, 0.000, -0.5]

If this doesn't work, just let me know!

from relaxed_ik.

Hi Daniel,
Thank you for your help! With your suggestion I am now able to generate a box collision object but I am still noticing the concentric cylinders in the robot links. Would that affect performance in any way or can I just ignore it?

from relaxed_ik.

Great, glad that first fix worked for the box problem! As for the other issue, I would ignore this for now. If you get through step 7 of the setup and everything looks okay, all is good and you’re good to go to do preprocessing and this won’t have any long term impact on performance. If any issues come up because of this along the way, feel free to reach out again!

from relaxed_ik.