View collision models in Drake

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Is there any way to view the collision models with Drake Visualizer without simply copying the model in the visual tag? I was trying to use a mesh as a collision model and I am unable to get collisions working with it.

drake
1 Answers

A couple of key points:

  1. General meshes cannot be used for contact. The best you can hope for is using a convex mesh. Here's an example of the specification in an sdf. Here's the corresponding example in a urdf. They're both very similar.
    • It's worth emphasizing that the mesh must truly be convex; it won't be checked but lying will produce unexpected results.
  2. If you're using drake_visualizer as your visualizer, you most likely have a call to ConnectDrakeVisualizer. That takes an optional argument where you can request it to visualize the collision (aka Role::kProximity) instead of the default visual (aka Role::kIllustration).
user_76862560
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