[ompl-users] loading robot mesh

[Jared C. <co...@ba...>]

Hello all,

I'm running the OMPL.app demo program demo_SE3RigidBodyPlanning where robot and environment are loaded as

                // load the robot and environment
                std::string robot_fname = std::string(OMPLAPP_RESOURCE_DIR) + "/3D/cubicles_robot.dae";
                std::string env_fname   = std::strinfdsg(OMPLAPP_RESOURCE_DIR) + "/3D/cubicles_env.dae";
                setup.setRobotMesh(robot_fname.c_str());
                setup.setEnvironmentMesh(env_fname.c_str());

I receive the following error, which appears to originate from RigidBodyGeometry.cpp

Error:   Unable to load robot scene: /home/cooper/Documents/OMPL/omplapp-0.14.1-Source/resources/3D/cubicles_robot.dae
        at line 50 in /home/cooper/Documents/OMPL/omplapp-0.14.1-Source/src/omplapp/geometry/RigidBodyGeometry.cpp
Error:   Unable to load environment scene: /home/cooper/Documents/OMPL/omplapp-0.14.1-Source/resources/3D/cubicles_env.dae
         at line 93 in /home/cooper/Documents/OMPL/omplapp-0.14.1-Source/src/omplapp/geometry/RigidBodyGeometry.cpp
BVH Error! endModel() called on model with no triangles and vertices.
Info:    Empty environment loaded

Thoughts on how to create a DAE model file that can be loaded with this method? ie, one that has triangles and vertices? I've created new DAE files in google sketchup and then exported as a DAE file. These load fine with the OMPL.app GUI but not with the setRobotMesh method.  Thanks!

- Jared