Laser doesn't detect all objects

I notice that the laser does not always detect objects, it detects objects such as duck_vhacd and sphere8cube but not table/table. Any reason for this behaviour? Is this related to the type of object?

PS: If I run the pepper_lasers example and print the value of laser_list, each laser value is always either 0 or 3. When the lasers go on one by one, they are all 0 and if the lasers are all initialized the values are all 3. Maybe better to place the duck in a region where it meets the lasers?

[mbusy]

Yep that’s what I thought, the table legs are defined from a visual point of view, but not from a collision point of view. The lasers won’t be able to detect them

[wagenaartje]

This is the code I am using:

import cv2
import time
import math
import numpy as np
from qibullet import SimulationManager
from qibullet import PepperVirtual

import pybullet
import pybullet_data

def main():
    # Initialize a single simulation
    simulation_manager = SimulationManager()
    client = simulation_manager.launchSimulation(gui=True)

    # Populate the world
    pepper = simulation_manager.spawnPepper(client, spawn_ground_plane=True)
    pybullet.setAdditionalSearchPath(pybullet_data.getDataPath())
    table = pybullet.loadURDF("table/table.urdf",basePosition=[2, 0, -0.05], baseOrientation=[0,0,1,1], globalScaling = 1.0, physicsClientId=client)

    # Initialize the posture
    pepper.goToPosture("Crouch", 0.6)
    time.sleep(1)
    pepper.goToPosture("Stand", 0.6)
    time.sleep(1)
    pepper.goToPosture("StandZero", 0.6)
    time.sleep(1)

    pepper.showLaser(True)
    pepper.subscribeLaser()

    # Start moving
    pepper.moveTo(1, 1, 0, frame=PepperVirtual.FRAME_WORLD, speed=0.1, _async=True)

    try:
        while True:
            # Gather all laser values
            laser_list = pepper.getRightLaserValue()
            laser_list.extend(pepper.getFrontLaserValue())
            laser_list.extend(pepper.getLeftLaserValue())
            print(laser_list)

            cv2.waitKey(1)
    except KeyboardInterrupt:
        simulation_manager.stopSimulation(client)

if __name__ == "__main__":
    main()