Hello,
I can’t get the correct values for the bounding box of an object imported with the urdf importer.
Here is an example code:
test_bbox.zip (1.6 KB)
In this code, I tested to compute the bounding box using [Get Mesh Size] (Frequently Used Python Snippets — Omniverse Robotics documentation) as well as using directly the compute_object_AABB function from world.scene and using the function compute_aabb from omni.isaac.core.utils.bounds.
In the three cases, I got the same result for the dimensions of the bounding box: [0.0225 0.0016 0.0016] while it should give as a result [0.15 0.04 0.04]
Does someone have an idea of how to get the correct bounding box values?
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Hello, the bounding box computed is also incorrect if I use the cube defined in Isaac Sim with some scaling.
Here is an example in which the dimensions computed are [0.25, 0.25, 0.25] and it should be [0.5, 0.5, 0.5]
from omni.isaac.kit import SimulationApp
kit = SimulationApp({"headless": False})
from omni.kit.commands import execute
from omni.isaac.core import World
from omni.isaac.core.objects.cuboid import DynamicCuboid
import omni.isaac.core.utils.prims as ipr
from pxr import Usd, UsdGeom
import numpy as np
from omni.isaac.core.utils.bounds import compute_aabb, create_bbox_cache
import omni.timeline
if __name__ == "__main__":
physics_dt = 1 / 240
gravity_magnitude = 9.81
world = World(physics_dt=physics_dt, rendering_dt=physics_dt, stage_units_in_meters=1.0)
world.get_physics_context().set_gravity(-gravity_magnitude)
world.scene.add_default_ground_plane()
world.scene.enable_bounding_boxes_computations()
_, import_config = execute("URDFCreateImportConfig")
# Set defaults
import_config.merge_fixed_joints = False
import_config.convex_decomp = False
import_config.fix_base = False
import_config.import_inertia_tensor = False
prim_path = "/World/cube"
name = "cube"
prim = world.scene.add(
DynamicCuboid(
prim_path=prim_path, # The prim path of the cube in the USD stage
name=name, # The unique name used to retrieve the object from the scene later on
position=np.array([0, 0, 1.0]), # Using the current stage units which is in meters by default.
scale=np.array([0.5, 0.5, 0.5]), # most arguments accept mainly numpy arrays.
color=np.array([0, 0, 1.0]), # RGB channels, going from 0-1
))
# TEST with compute_object_AABB from world.scene
[pos_1, pos_2] = world.scene.compute_object_AABB(name)
size = np.array(pos_2) - np.array(pos_1)
print("Prim size obtained with compute_object_AABB: ", size)
# TEST with Compute World Bound
timeline = omni.timeline.get_timeline_interface()
bbox_cache = UsdGeom.BBoxCache(timeline.get_current_time(), includedPurposes=[UsdGeom.Tokens.default_])
bbox_cache.Clear()
prim = ipr.get_prim_at_path(prim_path)
prim_bbox = bbox_cache.ComputeWorldBound(prim)
prim_range = prim_bbox.ComputeAlignedRange()
prim_size = prim_range.GetSize()
print("Prim size obtained with ComputeWorldBound: ", list(prim_size))
# Test with compute_aabb
cache = create_bbox_cache(use_extents_hint=False)
bb = compute_aabb(cache, prim_path, include_children=True)
prim_size = np.array(bb[3:]) - np.array(bb[:3])
print("Prim size obtained with compute_aabb: ", list(prim_size))
kit.close()
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