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NVlabs / storm

Stochastic Tensor Optimization for Robot Motion - A GPU Robot Motion Toolkit
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Unable to load collision spheres properly #5

Open patorrad opened 2 years ago

patorrad commented 2 years ago

My team is working on implementing STORM on a UR16e robot. We defined the collision spheres to the best of our abilities following the example provided for the Franka Panda robot and using the stl files for the UR16e. The robot still collides with primitives. I have attached our robot collision sphere definition file and the mpc definition file. This video shows an example of the collision occurring.

After speaking to Mohak we are trying to debug this issue by visualizing the spheres utilizing the w_batch_link_spheres object and update_batch_robot_collision_objs method in the class RobotSphereCollision in robot.py.

Any further guidance or an existing method/code would be appreciated.

ur16e_collision.txt ur16e_reacher_collision.txt

balakumar-s commented 2 years ago

The video link is broken. Could you send the video again?

patorrad commented 2 years ago

Sorry, the video had the wrong link. I followed Mohak's suggestion and was able to visualize the collision spheres in the model. This helped me define them correctly. I can make a pull request with my code. It is a useful feature. Screenshot from 2022-08-15 19-45-05 (1)

balakumar-s commented 2 years ago

Yes, can you make a PR? This will be very helpful. Thanks!

Are you still seeing collisions?

kaustabpal commented 1 year ago

Sorry, the video had the wrong link. I followed Mohak's suggestion and was able to visualize the collision spheres in the model.

Hi, can you please share how you visualized the collision sphere in the model?

patorrad commented 1 year ago

I wrote some code for it. I still need to do the pull request. I can do it next week.

kaustabpal commented 1 year ago

That would be really helpful. Thanks.

kaustabpal commented 1 year ago

I wrote some code for it. I still need to do the pull request. I can do it next week.

A kind reminder to do the pull request by this week.

patorrad commented 1 year ago

Done.