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hello-robot / stretch_body

Python packages to interact with the hardware of the Stretch mobile manipulators from Hello Robot Inc.
https://docs.hello-robot.com/0.2/stretch-tutorials/stretch_body/
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Feature/collision mgmt multiprocess #305

Closed hello-fazil closed 5 months ago

hello-fazil commented 5 months ago

This PR implements Multiprocessing to Robot collision management where the abstract class's RobotCollisionCompute processing is run in a child process at full CPU cycle. Additionally implements major designs changes to the self collision management mechanism and Tablet tool improvements.