Comments (3)
This may be extended to potentially remove the reliance on the MoveIt Planning Scene in its entirety (or encapsulating the limited functionality we use) as this blocks using a fixed version of FCL. We can continue to use ACM without the planning scene.
After fixing some of the collision distance computation in Exotica, this returns 3.7cm penetration because the Mesh-to-Mesh triangle penetration computation is incorrect:
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Can the FCL 0.6 with any dependencies be put in a debian?
Less dependency on MoveIt Planning Scene is good.
I want to eventually put the collision checking into a separate task map (outside of the Scene). This can also be a separate package in a separate repo, so we can make it depend on non-standard libraries without affecting compatibility of core exotica.
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I tried wrapping FCL 0.6 in a catkin package but there were conflicts between the FCL versions and namespaces brought in by MoveIt and the new catkinized FCL. I assume it could be catkinized and used exclusively if we got rid of MoveIt. So it's probably a 1-2-week-or-so project to do so (encapsulate CollisionScene as a class/library that has no MoveIt but allows external updates of transforms and objects in the FCL world; have Scene call these whenever there's an update - and move the ownership of the MoveIt planning scene element to Scene).
For now I've made quite some progress on fixing the distance and penetration depth calculation, just needs tidying up. Of course the collision points and depths aren't that accurate (visually just slightly beyond touching vs what is being returned (3.6cm) is quite off) but I hope it's good enough for now.
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Related Issues (20)
- Add Octomap collision checking example
- Support for differential drive robots HOT 1
- roslaunch exotica_examples cpp_ik_minimal.launch does not work HOT 9
- Tensor contraction fails when 2nd-order dynamics terms are used
- Obstacle does not display in RViz HOT 3
- [exotica_examples] Python attach example: Goal State is not valid! HOT 2
- Python warning exotica/Frame: Ignoring property ... HOT 1
- Full 20.04 compatibility
- ParsePath does not work for generated files in a devel workspace HOT 2
- CollisionSceneFCL won't work on Noetic HOT 1
- Build failure HOT 9
- Noetic exotica_pinocchio failing to build - cc1plus killed HOT 4
- Redundant task-maps: EffPositionXY == LookAt
- Demos for the task map `interaction mesh`?
- pyexotica import error due to missing libmoveit_rdf_loader HOT 2
- Constrain roll and pitch, leave yaw unconstrained HOT 4
- Is position only IK possible? HOT 2
- Could Anyone provide a Demo about how to use the Interaction Mesh?
- arm64 binaries segfault
- [Noetic] exotica_pinocchio_dynamics_solver fails to build on armhf HOT 1
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