VladimirIvan
commented
5 years ago However, even if FCL does not support planes, EXOTica should throw a warning instead of crashing.
Absolutely
MoveIt uses FCL so they have the same limitation.
Open christian-rauch opened 5 years ago
VladimirIvan
commented
5 years ago However, even if FCL does not support planes, EXOTica should throw a warning instead of crashing.
Absolutely
MoveIt uses FCL so they have the same limitation.
wxmerkt
commented
5 years ago I'd like to test this with your minimal example from above. It should work with CollisionSceneFCLLatest (new FCL has some half-space fixes). I will report back once done.
wxmerkt
commented
5 years ago I did some more digging: the issue is related with the dispatch via the DynamicAABBTreeManager. Adding a plane and box by themselves and checking with isCollisionFree by themselves is fine:
import pyexotica as exo
ik = exo.Setup.loadSolver('{exotica_examples}/resources/configs/example_manipulate_ik.xml')
problem = ik.getProblem()
scene = problem.getScene()
test_scene = '''(ExampleScene)+
* Box
1
box
0.1 0.1 0.1
0 0 0
0 0 0.968912 -0.247404
1 0 0 1
* Plane
1
plane
0 0 1.0 0
0 0 -0.5
0 0 0 1
0 0 1 1
.
'''
scene.cleanScene()
scene.loadScene(test_scene)
print("Collision-free?", scene.isCollisionFree("Box", "Plane"))
print("isStateValid(False, 0.01)?", scene.isStateValid(False, 0.01))While the parameter d has an influence on the AABB (cf. here), changing it to a small value (1e-6, 1e-2) did not help. I checked with MoveIt again and they do the same setup and similar dispatch as we do. Strangely enough, they have a special if-case for planes, but then treat it the same as other shapes in the end.
EXOTica crashes when using a collision scene that contains a plane:
Full example: example_attach_plane.py.txt (derived from
example_attach_plane.py).Backtrace:
Edit: I imagine that collision checking with planes is not well supported since planes do not have a volume. However, even if FCL does not support planes, EXOTica should throw a warning instead of crashing. Is mesh to plane collision supported in FCL and MoveIt!?