![]() Then export the alternative mesh and link it properly in the URDF file, for example: įor the visual bodies, we only have to reduce the number of triangle to improve the display framerate. The convex hull algorithm seems a good starting point but may not be adapted for all parts. The first step is to create an alternative very-simplified version and as convex as possible. Alt F to fill, then Alt J to try and remove unnecessary triangles. Step 1: Simplify collision bodiesĬurrently, physical bodies are the same as the visual body so they are waaayyy too complex for efficient collisions computation. 1 Answer Sorted by: 14 Depending on the topology of the mesh, you could try: Grid fill ( Ctrl F > Grid fill ). To do so the MeshLab software appears as a very good candidate. Jump into edit mode and make sure all geometry is deselected first, then go Select > All by Trait > Non-manifold Geometry. 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. The physical body is used to compute collision between parts while the visual body is the one displayed. 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. After the script has been successfully run, the database can be accessed from all Azure services and the allowed IP address range. The current 3D model for simulation (for the moment V-REP only) is a bit too complex making the simulation quite slow. Meshlab does not have the concept of a 'solid' or 'hollow' mesh. This Azure CLI script example creates a single database in Azure SQL Database and configures a server-level firewall rule. Of course you’ll loose the visualisation… Call for contributions ![]() Under the hood, MLX generates XML filter scripts that can then be executed headless with the meshlabserver executable or run in the MeshLab GUI. Until then, you can always run meshlab from the CLI, or create your own. MLX, or M esh L ab X ML, is a Python (2.7 or 3) scripting interface to MeshLab, the open source system for processing and editing 3D triangular meshes. You can also try to run V-REP in headless mode and see if it works better. If you run snap info meshlab youll see contact info for the publisher. 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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