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sea-bass / pyroboplan

Educational Python library for manipulator motion planning
https://pyroboplan.readthedocs.io
MIT License
205 stars 20 forks source link

Show motion planning while avoiding Octrees #57

Open sea-bass opened 2 months ago

sea-bass commented 2 months ago

Pinocchio already supports Octrees in HPP-FCL (for collision checking) and Meshcat (for visualization).

It would be nice to have official support, and an example, of motion planning with an Octree representing a custom collision geometry.

henrygerardmoore commented 1 month ago

I'm going to try this one!

henrygerardmoore commented 1 month ago

Hmm, I get this:

/home/ubuntu/.local/lib/python3.12/site-packages/cmeel.prefix/lib/python3.12/site-packages/pinocchio/visualize/meshcat_visualizer.py:493: UserWarning: The geometry object named octree is not supported by Pinocchio/MeshCat for vizualization.

I looked at this example, where it seems to check that HPP-FCL's version is greater than 3.0.0, but that isn't even out yet, right? So I'm not sure exactly what's going on; maybe I'm missing it, but it seems like meshcat might not support octrees.

There is this and this relevant commit, but I can't find the PR those were introduced in either (GH just points to the pinnochio 3 merge #2235)

sea-bass commented 1 month ago

Ah, it's possible these are all in 3.0.0 or greater, but not in the 2.7.0 version.

Might need to wait until that makes it onto PyPi, they seem to be working through some build issues.

henrygerardmoore commented 1 month ago

Ok, I'll look at different issues then!