getAAAB returns a bigger AABB

[submagr]

Hi @erwincoumans,
I was trying to get an axis-aligned bounding box, and it works perfectly fine for most objects. However, for this particular example (all code attached for reproducing), it's giving a much bigger bounding box. Can you please help?

Main code logic is:

obj_id = p.loadURDF(
    "obj.urdf",
    basePosition=[0, 0, 1],
    baseOrientation=p.getQuaternionFromEuler([1.3466470569667521, 2.131654450451668, 3.8403881260599886])
)
# let the object settle
for i in range(int(1e3)):
    p.stepSimulation()
    time.sleep(1 / 240.)
bb_min, bb_max = p.getAABB(obj_id)

Here is the zip for a reproducible setup:
min_pybullet_issue.zip

Thanks for creating this amazing software.

[kosuke55]

Hi, thank you for your work @erwincoumans and this issue @submagr.
I also found a box that was much larger than the object.
I know aabb is padded like #2328, but I think it's a lot bigger than that.
Is this the correct behavior?

object.zip

import time

import numpy as np
import pybullet as p


lines = []

def get_key_rotatins(use_diagonal=True):
    key_rotations = [
        p.getQuaternionFromEuler([0, 0, 0]),
        p.getQuaternionFromEuler([np.pi / 4, 0, 0]),
        p.getQuaternionFromEuler([np.pi / 2, 0, 0]),
        p.getQuaternionFromEuler([np.pi / 4 * 3, 0, 0]),
        p.getQuaternionFromEuler([np.pi, 0, 0]),
        p.getQuaternionFromEuler([-np.pi / 4 * 3, 0, 0]),
        p.getQuaternionFromEuler([-np.pi / 2, 0, 0]),
        p.getQuaternionFromEuler([-np.pi / 4, 0, 0]),
        p.getQuaternionFromEuler([0, np.pi / 4, 0]),
        p.getQuaternionFromEuler([0, np.pi / 2, 0]),
        p.getQuaternionFromEuler([0, np.pi / 4 * 3, 0]),
        p.getQuaternionFromEuler([0, -np.pi / 4 * 3, 0]),
        p.getQuaternionFromEuler([0, -np.pi / 2, 0]),
        p.getQuaternionFromEuler([0, -np.pi / 4, 0])
    ]
    return key_rotations


def rotate_object(object_id, rot):
    pos, _ = p.getBasePositionAndOrientation(object_id)
    p.resetBasePositionAndOrientation(object_id, pos, rot)


def drawAABB(aabb):
    if len(lines) > 0:
        for line in lines:
            p.removeUserDebugItem(line)
    f = [aabbMin[0], aabbMin[1], aabbMin[2]]
    t = [aabbMax[0], aabbMin[1], aabbMin[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 0, 0]))
    f = [aabbMin[0], aabbMin[1], aabbMin[2]]
    t = [aabbMin[0], aabbMax[1], aabbMin[2]]
    lines.append(p.addUserDebugLine(f, t, [0, 1, 0]))
    f = [aabbMin[0], aabbMin[1], aabbMin[2]]
    t = [aabbMin[0], aabbMin[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [0, 0, 1]))

    f = [aabbMin[0], aabbMin[1], aabbMax[2]]
    t = [aabbMin[0], aabbMax[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMin[0], aabbMin[1], aabbMax[2]]
    t = [aabbMax[0], aabbMin[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMax[0], aabbMin[1], aabbMin[2]]
    t = [aabbMax[0], aabbMin[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMax[0], aabbMin[1], aabbMin[2]]
    t = [aabbMax[0], aabbMax[1], aabbMin[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMax[0], aabbMax[1], aabbMin[2]]
    t = [aabbMin[0], aabbMax[1], aabbMin[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMin[0], aabbMax[1], aabbMin[2]]
    t = [aabbMin[0], aabbMax[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMax[0], aabbMax[1], aabbMax[2]]
    t = [aabbMin[0], aabbMax[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [1.0, 0.5, 0.5]))

    f = [aabbMax[0], aabbMax[1], aabbMax[2]]
    t = [aabbMax[0], aabbMin[1], aabbMax[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))

    f = [aabbMax[0], aabbMax[1], aabbMax[2]]
    t = [aabbMax[0], aabbMax[1], aabbMin[2]]
    lines.append(p.addUserDebugLine(f, t, [1, 1, 1]))


p.connect(p.GUI)
urdf_file = 'object/base.urdf'

object_id = p.loadURDF(urdf_file, [0, 0, 0], [0, 0, 0, 1])


key_rotations = get_key_rotatins()
time.sleep(5)
for i in range(len(key_rotations)):
    rotate_object(object_id, key_rotations[i])
    aabb = p.getAABB(object_id)
    aabbMin = aabb[0]
    aabbMax = aabb[1]
    drawAABB(aabb)
    time.sleep(2)