Now, I want to increase the thickness of the surface model exported from meshmixer and meshlab. The convex hull algorithm seems a good starting point but may not be adapted for all parts. I use educational version creo 3.0 parametric. I have been struggling with this - what I need is simply the external shape or shell, without all the internal self-intersection parts. Sometimes it even intersects itself continuously (See attached image).
The first step is to create an alternative very-simplified version and as convex as possible. Sometimes I create a continuous surface which intersects itself repeatedly. Step 1: Simplify collision bodiesĬurrently, physical bodies are the same as the visual body so they are waaayyy too complex for efficient collisions computation. To do so the MeshLab software appears as a very good candidate. It is needed to create alternative meshes for the collision and simplify the visual meshes. This URDF links to the visual meshes (STL) available here and currently links to the same meshes for the collision bodies (which is not optimized): The simulated robot is generated from a URDF file available here. Both have to be simplify to improve the overall performances.
#Meshlab create shell install#
For Windows install Cygwin if youre on Linux or OS X you probably already have it. At minimum you will need the file mlx.bsh under main/, and possibly measure.bsh as well.
#Meshlab create shell how to#
How to find a factorial in a shell script How to create a simple. The physical body is used to compute collision between parts while the visual body is the one displayed. Im going to do some shameless self promotion here and suggest you check out my bash meshlabserver scripting interface on github. Local and Global Shell variable (export command). In this kind of model, there are actually 2 bodies per part. Therefore, it would be great to reduce the meshes complexity to improve the overall performance.
The current 3D model for simulation (for the moment V-REP only) is a bit too complex making the simulation quite slow. Of course you’ll loose the visualisation… Call for contributions You can also try to run V-REP in headless mode and see if it works better. This may hopefully improve the performance. We should soon try to provide a simpler model of Poppy for V-REP by simplifying the mesh. HowTo: Connect pypot to your simulated version of a Poppy humanoid in V-REPįor info, on my laptop (really powerful i7 + good GPU) I’m only barely better than real time…
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