Hello list, I do have some problems with trimesh files in Gazebo. Ok, many people had problems with that before, I know, but.. in the end I tried a very simple example of a pyramid (see attached Ogre XML), which worked fine for visualization but not for collision / physics. The config file works fine for other, even far more complex meshes. By trying several variations, I found out that it must have something to do with the order of faces/vertices. Manually transforming a Cube to a Pyramid works, too (different face/vertice order..) and I do not really see the problem within that pyramid mesh file. Does anyone have an idea? The mesh file is exported from Maya via the Ogre-Exporter Plugin, which works with many, but unfortunately not all meshes. I attached the XML Code of the pyramid which can be easily converted to a mesh file using the OgreXMLExport tool which comes with Ogre. Btw, has someone thought about integrating PhysX into Gazebo, as it seems to be a bit more powerful with trimesh-trimesh collisions and can support a higher number of objects? Kind regards, Volker \\ ------------------------ UnitPyramid.mesh.xml ------------------------ <mesh> <submeshes> <submesh material="lambert1" usesharedvertices="false" use32bitindexes="false" operationtype="triangle_list"> <faces count="6"> <face v1="0" v2="1" v3="2" /> <face v1="3" v2="4" v3="5" /> <face v1="6" v2="7" v3="8" /> <face v1="9" v2="10" v3="11" /> <face v1="12" v2="13" v3="14" /> <face v1="15" v2="16" v3="17" /> </faces> <geometry vertexcount="18"> <vertexbuffer positions="true" texture_coord_dimensions_0="2" texture_coords="1"> <vertex> <position x="-0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.5" v="1" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.75" v="0.75" /> </vertex> <vertex> <position x="-0.5" y="-0.353553" z="0.5" /> <texcoord u="0.25" v="0.75" /> </vertex> <vertex> <position x="-0.5" y="-0.353553" z="0.5" /> <texcoord u="0.25" v="0.75" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.75" v="0.75" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="0.5" /> <texcoord u="0.5" v="0.5" /> </vertex> <vertex> <position x="-0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.5" v="1" /> </vertex> <vertex> <position x="-0.5" y="-0.353553" z="0.5" /> <texcoord u="0.25" v="0.75" /> </vertex> <vertex> <position x="0" y="0.353553" z="0" /> <texcoord u="0.5" v="-0" /> </vertex> <vertex> <position x="-0.5" y="-0.353553" z="0.5" /> <texcoord u="0.25" v="0.75" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="0.5" /> <texcoord u="0.5" v="0.5" /> </vertex> <vertex> <position x="0" y="0.353553" z="0" /> <texcoord u="0.5" v="-0" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="0.5" /> <texcoord u="0.5" v="0.5" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.75" v="0.75" /> </vertex> <vertex> <position x="0" y="0.353553" z="0" /> <texcoord u="0.5" v="-0" /> </vertex> <vertex> <position x="0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.75" v="0.75" /> </vertex> <vertex> <position x="-0.5" y="-0.353553" z="-0.5" /> <texcoord u="0.5" v="1" /> </vertex> <vertex> <position x="0" y="0.353553" z="0" /> <texcoord u="0.5" v="-0" /> </vertex> </vertexbuffer> </geometry> </submesh> </submeshes> </mesh> \\ ------------------------ UnitPyramid.mesh.xml ------------------------ __ volker darius
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