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drake

How to add anchored models?

When building a robot with environments, I would like to mark those objects in the env as anchored. Using Parser(plant).AddModelsXXX, it seems there is no options to mark the added geometries as anchored. I also use WeldFrames to fix those geometries. But that does not automatically mark geometries attached to the welded frame as anchored.

How can I mark geometries as anchored?

Thanks.

Solution

  • How can I mark [Parser] geometries as anchored [... in SceneGraph]?

    There is currently no easy way to accomplish that. There is an open feature request drake#8943 that describes the feature you're looking for.

    At the moment, there is no evidence that this feature makes any substantial difference in performance, so the issue has been given a very low priority.

    If you posted some benchmark code into that issue that illustrates why the performance matters in your case, that might help the Drake maintainers to prioritize the feature.