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YCB Collision Geometry Sphere Placement #18839

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nepfaff opened this issue Feb 21, 2023 · 3 comments
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YCB Collision Geometry Sphere Placement #18839

nepfaff opened this issue Feb 21, 2023 · 3 comments
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@EricCousineau-TRI
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component: tutorials Drake's tutorials, examples, and website content type: bug

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@nepfaff
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nepfaff commented Feb 21, 2023

What happened?

I looked at the YCB mustard bottle collision geometry and noticed that the spheres are offset from the main box primitive. Wouldn't the desired placement be at the box edges?

A collision geometry visualization with the sphere radii inflated from 1e-7 to 1e-3 for visibility:
image

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@jwnimmer-tri
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+@EricCousineau-TRI is there any history here we should know about?

@jwnimmer-tri jwnimmer-tri added the component: tutorials Drake's tutorials, examples, and website content label Feb 21, 2023
@EricCousineau-TRI
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Nothing that I'm aware of, unfortunately.

@jwnimmer-tri jwnimmer-tri mentioned this issue Mar 20, 2024
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@jwnimmer-tri
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Re-filed in new home of YCB objects: RobotLocomotion/models#39

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@EricCousineau-TRI EricCousineau-TRI

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@jwnimmer-tri @EricCousineau-TRI @nepfaff