Collision disabled

[dcharrezt]

Hi,

When running the tamp example (from main branch), with or without --cfree flag plans ignore collision. Is there something else I need to change? I am also getting the following warnings that seem related.

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: r_gripper_tool_frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: l_gripper_led_frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: l_gripper_tool_frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: l_forearm_cam_optical_frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

b3Printf: No inertial data for link, using mass=1, localinertiadiagonal = 1,1,1, identity local inertial frame
b3Printf: b3Warning[examples/Importers/ImportURDFDemo/BulletUrdfImporter.cpp,126]:

Thanks in advance for any help!

[Gaoyuan-Liu]

Hey @dcharrezt, I run into the same issue, and I found the collision checking works fun for the fixed obstacles (walls), but not for the movable (red). Have you solved this issue?

[roshandhakal]

@dcharrezt @Gaoyuan-Liu I am also running to same issue. Did you guys solve it?

[roshandhakal]

The only algorithm that works for collision is "incremental".

[Gaoyuan-Liu]

Hey @roshandhakal, finally I solve the problem by using the "downward" branch rather than the main branch. However, still have no idea what's the reason for the error.

[caelan]

Resolved in main by: 526b450.