Your browser was unable to load all of the resources. They may have been blocked by your firewall, proxy or browser configuration.
Press Ctrl+F5 or Ctrl+Shift+R to have your browser try again.

Setting the bounding box for a robot link manually #2

#1

How should I set the bounding box of a robot link manually? The bounding box generated automatically by Klamp't can sometimes be undesirable.

  • replies 2
  • views 46
  • likes 0
#2

Problem resolved: I posted the questions initially because the bounding boxes displayed in the RobotTest app are not aligned with some of the links' axes. After taking a closer look at the issue, I realized that the validity of collision detection is not affected by these seemingly wrong bounding boxes. ( This could just be some artifacts from the RobotTest app.)

Also, as have been suggested by Kris, I can use the function getBBTight in Python to get a tight bounding box to be used for collision detection.

#3

You won't need to set a bounding box for any reason. If you want to get a tight bbox, you can call GetAABBTight() in C++ on the geometry, or getBBTight in Python.