feat: integrate collision detection feature into robot model#163
Merged
Conversation
|
CLA Assistant Lite bot All contributors have signed the CLA ✍️ ✅ |
Author
|
I have read and understood the Contributor License Agreement and hereby sign it |
Member
|
recheck |
1 similar comment
Author
|
recheck |
domire8
reviewed
Mar 13, 2024
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
…nology/control-libraries into feat/collision-detection-robot
domire8
reviewed
Mar 14, 2024
domire8
left a comment
Member
There was a problem hiding this comment.
Looks better, would like to leave that here for more reviews
domire8
reviewed
Mar 27, 2024
domire8
left a comment
Member
There was a problem hiding this comment.
Hold on a sec, how do we use these new constructors now?
The existing one is unchanged, clear to me. The new one has an std::optional function, so what if you want to load the collision but you already know that the URDF has correct absolute paths? Do you do provide a nullptr to the constructor?
domire8
reviewed
Mar 27, 2024
Co-authored-by: Enrico Eberhard <32450951+eeberhard@users.noreply.github.com>
domire8
reviewed
Mar 27, 2024
domire8
left a comment
Member
There was a problem hiding this comment.
Almost good to go, thanks for the patience here!
domire8
reviewed
Mar 27, 2024
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
domire8
reviewed
Mar 28, 2024
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
domire8
reviewed
Apr 2, 2024
domire8
left a comment
Member
There was a problem hiding this comment.
You need to set version 7.3.10 manually now
./update_version --version 7.3.10 --commit
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
Member
This still |
Author
done! |
domire8
approved these changes
Apr 2, 2024
bpapaspyros
approved these changes
Apr 2, 2024
eeberhard
approved these changes
Apr 3, 2024
eeberhard
left a comment
Member
There was a problem hiding this comment.
Amazing work and thanks for the patience!
This file contains hidden or bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Sign up for free
to subscribe to this conversation on GitHub.
Already have an account?
Sign in.
4 participants
Add this suggestion to a batch that can be applied as a single commit.This suggestion is invalid because no changes were made to the code.Suggestions cannot be applied while the pull request is closed.Suggestions cannot be applied while viewing a subset of changes.Only one suggestion per line can be applied in a batch.Add this suggestion to a batch that can be applied as a single commit.Applying suggestions on deleted lines is not supported.You must change the existing code in this line in order to create a valid suggestion.Outdated suggestions cannot be applied.This suggestion has been applied or marked resolved.Suggestions cannot be applied from pending reviews.Suggestions cannot be applied on multi-line comments.Suggestions cannot be applied while the pull request is queued to merge.Suggestion cannot be applied right now. Please check back later.
Description
This PR solves the issue by implementing 3 new attributes to the
robot::Modelclass, namelycheck_collisionandget_number_of_collision_pairsandis_geometry_model_initialized. These new attributes along with the default new parameter in the constructor allows for self-collision checking based on the URDF and geometries of the robot.Accordingly by providing paths to the URDF and it's corresponding collision meshes when initializing/creating
robot::Modelclass, a user can allow for collision checking given a certain joint positions configuration.One possible improvement yet to consider is the paths of the meshes inside the URDFs used in the test.
Review guidelines
Estimated Time of Review: 15 minutes
Checklist before merging: