## Re: [PlayerStage-Gazebo] Body and Geometries

 Re: [PlayerStage-Gazebo] Body and Geometries From: Konstantinos Karantzis - 2005-01-28 02:35:51 ```Ok, so in order to make a PeopleBot (http://www.activrobots.com/PICTURES/pbotundmtptzLabeld.jpg) would it be valid to say that 6 Body objects will be needed? If that is the case then please explain to me why the SegwayRMP (http://playerstage.sourceforge.net/images/gazebo_segwayrmp.gif) "gets away" with 4 Body objects? Would it not make more sense to have an extra 2, one for each riser? Regards, K. Karantzis ----- Original Message ----- From: Nate Koenig Date: Thursday, January 27, 2005 4:53 pm Subject: Re: [PlayerStage-Gazebo] Body and Geometries > Hi Konstantinos, > > A Body defines the dynamic properties of objects, and servers as > connection points for joint. Geoms exists for collision detection and > visualization. So, to make a pioneer with two wheels and a base, > you'll need 3 bodies: 2 for the wheels and 1 for the base. > > In addition, Bodies can have multiple Geoms. This makes complex > (composite) shapes possible. > > Plenty of detail on the ODE website: > http://www.ode.org > > -nate > > > On Thu, 27 Jan 2005 02:10:43 +0000 (GMT), Konstantinos Karantzis > wrote: > > Hello list, > > > > From the robot models I have read at least one Body object is > created in > > order to create a few Geom objects and then call the AddBody() > method.> Then the same procedure is followed again. > > The question is: Wouldn't one Body object just do the job with > many Geom > > objects and a final call to the AddBody() method? Are there any > > drawbacks doing that? > > > > Regards, > > K. Karantzis > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IntelliVIEW -- Interactive > Reporting> Tool for open source databases. Create drag-&-drop > reports. Save time > > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, > etc.> Download a FREE copy at http://www.intelliview.com/go/osdn_nl > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IntelliVIEW -- Interactive > ReportingTool for open source databases. Create drag-&-drop > reports. Save time > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. > Download a FREE copy at http://www.intelliview.com/go/osdn_nl > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```

 Re: [PlayerStage-Gazebo] Body and Geometries From: Konstantinos Karantzis - 2005-01-28 02:35:51 ```Ok, so in order to make a PeopleBot (http://www.activrobots.com/PICTURES/pbotundmtptzLabeld.jpg) would it be valid to say that 6 Body objects will be needed? If that is the case then please explain to me why the SegwayRMP (http://playerstage.sourceforge.net/images/gazebo_segwayrmp.gif) "gets away" with 4 Body objects? Would it not make more sense to have an extra 2, one for each riser? Regards, K. Karantzis ----- Original Message ----- From: Nate Koenig Date: Thursday, January 27, 2005 4:53 pm Subject: Re: [PlayerStage-Gazebo] Body and Geometries > Hi Konstantinos, > > A Body defines the dynamic properties of objects, and servers as > connection points for joint. Geoms exists for collision detection and > visualization. So, to make a pioneer with two wheels and a base, > you'll need 3 bodies: 2 for the wheels and 1 for the base. > > In addition, Bodies can have multiple Geoms. This makes complex > (composite) shapes possible. > > Plenty of detail on the ODE website: > http://www.ode.org > > -nate > > > On Thu, 27 Jan 2005 02:10:43 +0000 (GMT), Konstantinos Karantzis > wrote: > > Hello list, > > > > From the robot models I have read at least one Body object is > created in > > order to create a few Geom objects and then call the AddBody() > method.> Then the same procedure is followed again. > > The question is: Wouldn't one Body object just do the job with > many Geom > > objects and a final call to the AddBody() method? Are there any > > drawbacks doing that? > > > > Regards, > > K. Karantzis > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IntelliVIEW -- Interactive > Reporting> Tool for open source databases. Create drag-&-drop > reports. Save time > > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, > etc.> Download a FREE copy at http://www.intelliview.com/go/osdn_nl > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IntelliVIEW -- Interactive > ReportingTool for open source databases. Create drag-&-drop > reports. Save time > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. > Download a FREE copy at http://www.intelliview.com/go/osdn_nl > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```
 Re: [PlayerStage-Gazebo] Body and Geometries From: Nate Koenig - 2005-01-28 19:18:18 ```Hi Konstantinos, If you look at the code for the Segway, the base body is composed of three geoms - a base plate and two uprights. The Top Plate is a seperate body, so that the mass is in the proper position. And, each wheel must be a body. To make the people bot you would implement a similar structure, and use 4 bodies. Two for the wheels, one for the base and uprights, and one for the top. Since the people bot is not an inverted pendulum, you could probably get away with just 3 bodies - 2 for the wheels and one for the main structure. -nate On Fri, 28 Jan 2005 02:36:55 +0000 (GMT), Konstantinos Karantzis wrote: > Ok, so in order to make a PeopleBot > (http://www.activrobots.com/PICTURES/pbotundmtptzLabeld.jpg) would it be > valid to say that 6 Body objects will be needed? If that is the case > then please explain to me why the SegwayRMP > (http://playerstage.sourceforge.net/images/gazebo_segwayrmp.gif) "gets > away" with 4 Body objects? Would it not make more sense to have an extra > 2, one for each riser? > > Regards, > K. Karantzis > > ----- Original Message ----- > From: Nate Koenig > Date: Thursday, January 27, 2005 4:53 pm > Subject: Re: [PlayerStage-Gazebo] Body and Geometries > > > Hi Konstantinos, > > > > A Body defines the dynamic properties of objects, and servers as > > connection points for joint. Geoms exists for collision detection and > > visualization. So, to make a pioneer with two wheels and a base, > > you'll need 3 bodies: 2 for the wheels and 1 for the base. > > > > In addition, Bodies can have multiple Geoms. This makes complex > > (composite) shapes possible. > > > > Plenty of detail on the ODE website: > > http://www.ode.org > > > > -nate > > > > > > On Thu, 27 Jan 2005 02:10:43 +0000 (GMT), Konstantinos Karantzis > > wrote: > > > Hello list, > > > > > > From the robot models I have read at least one Body object is > > created in > > > order to create a few Geom objects and then call the AddBody() > > method.> Then the same procedure is followed again. > > > The question is: Wouldn't one Body object just do the job with > > many Geom > > > objects and a final call to the AddBody() method? Are there any > > > drawbacks doing that? > > > > > > Regards, > > > K. Karantzis > > > > > > ------------------------------------------------------- > > > This SF.Net email is sponsored by: IntelliVIEW -- Interactive > > Reporting> Tool for open source databases. Create drag-&-drop > > reports. Save time > > > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, > > etc.> Download a FREE copy at http://www.intelliview.com/go/osdn_nl > > > _______________________________________________ > > > Playerstage-gazebo mailing list > > > Playerstage-gazebo@... > > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > > > > > ------------------------------------------------------- > > This SF.Net email is sponsored by: IntelliVIEW -- Interactive > > ReportingTool for open source databases. Create drag-&-drop > > reports. Save time > > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. > > Download a FREE copy at http://www.intelliview.com/go/osdn_nl > > _______________________________________________ > > Playerstage-gazebo mailing list > > Playerstage-gazebo@... > > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > > > > > ------------------------------------------------------- > This SF.Net email is sponsored by: IntelliVIEW -- Interactive Reporting > Tool for open source databases. Create drag-&-drop reports. Save time > by over 75%! Publish reports on the web. Export to DOC, XLS, RTF, etc. > Download a FREE copy at http://www.intelliview.com/go/osdn_nl > _______________________________________________ > Playerstage-gazebo mailing list > Playerstage-gazebo@... > https://lists.sourceforge.net/lists/listinfo/playerstage-gazebo > ```

No, thanks