Re: [PlayerStage-Gazebo] Body and Geometries

[Konstantinos K. <kon...@su...>]

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 <nat...@gm...>
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:
> www.ode.org
> 
> -nate
> 
> 
> On Thu, 27 Jan 2005 02:10:43 +0000 (GMT), Konstantinos Karantzis
> <kon...@su...> 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
> > 
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