Additional parameters for body model

When user uses AGXDynamics plugin, user can use following additional parameters for his body model.

How to write

links:
  -
    name: Arm
    jointCompliance: 1e-8
    jointSpookDamping: 0.0333
    jointMotor: true
    jointMotorCompliance: 1e-8
    jointMotorSpookDamping: 0.0333
    jointMotorForceRange: [ -1000, 1000 ]
    jointRangeCompliance: 1e-8
    jointRangeSpookDamping: 0.0333
    jointRangeForceRange: [ -1000, 1000 ]
    jointLock: true
    jointLockCompliance: 1e-8
    jointLockSpookDamping: 0.0333
    jointLockForceRange: [ -1000, 1000 ]
    convexDecomposition: true
    AMOR: true
    autoSleep: true

collisionDetection:
  excludeTreeDepth: 3
  excludeLinks: [ ]
  excludeLinksDynamic: [ ]
  excludeLinkGroups:
    -
      name: groupA
      links: [ linkA, linkB, linkC, ... ]
    -
      name: groupB
      links: [ linkZ, linkY, linkX, ... ]
  excludeSelfCollisionLinks: [ linkP ]
  enableAGXWireContact: true
  excludeLinksWireContact: [ linkQ, linkR, ... ]

Explanation of parameters

Settings of collision detection

Parameter

Default value

unit

data type

explanation

excludeLinksDynamic

-

-

string list

disable collision of selected link

excludeLinkGroups:
-
name
links

-

-



string
string list
disable collisions between the links registered in group

name of group
name of link

excludeSelfCollisionLinks

-

-

string list

disable self-collision of selected link and body.

excludeLinksWireCollision

-

-

string list

disable collision between selected link and AGXWire.

Convex Decomposition(divide concave to convexes)

AGX Dynamics has a function to divide tri-mesh into convex object. Set true in convexDecomposition for link paramaeter, convex decomposition (from tri-mesh) is activated. It will contribute to improve the perormance of collision detection.

Note

Complex object/shape may be failed.

Note

It may cause different behavior when collides, because the contact point(s) is(are) different between tri-mesh and convex decomposite object.

Samples are available in below directory.

  • Project file: chorenoid/sample/AGXDynamics/agxConvexDecomposition.cnoid

  • Body file: chorenoid/sample/AGXDynamics/vmark.body

If you run a sample, convex decomposition is activated and the object is divided into some convex objects.

../_images/convexdecomposition.png