coveralls
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1 week ago Pull Request Test Coverage Report for Build 9667484320
Details
- 28 of 70 (40.0%) changed or added relevant lines in 4 files are covered.
- No unchanged relevant lines lost coverage.
- Overall coverage decreased (-2.6%) to 96.368%
| Changes Missing Coverage | Covered Lines | Changed/Added Lines | % | ||
|---|---|---|---|---|---|
| pink/barriers/barrier.py | 11 | 14 | 78.57% | ||
| pink/configuration.py | 6 | 13 | 46.15% | ||
| pink/barriers/self_collision_barrier.py | 10 | 42 | 23.81% | ||
| <!-- | Total: | 28 | 70 | 40.0% | --> |
| Totals | |
|---|---|
| Change from base Build 9594397741: | -2.6% |
| Covered Lines: | 1539 |
| Relevant Lines: | 1597 |
domrachev03
simeon-ned
This PR continues a series of PRs, aimed at the introduction of Control Barrier Functions, mentioned in https://github.com/stephane-caron/pink/issues/86. Namely, me and @simeon-ned implemented a whole-body self-collision avoidance barrier, based on Pinocchio's collision model. Namely, it ensures the distance between any collision pair is greater than constant:
$$h(q) = \begin{bmatrix} \ldots \ d(p^1_i, p^2i) - d{min} \ \ldots \end{bmatrix} \quad \forall i \in 0 \ldots N$$
where $N$ is number of collision pairs, $p^k_i$ is the $k-th$ body in $i$-th collision pair, $d(p^1_i, p^2i)$ is the distance between collision bodies in the pair, and $d{min}$ is minimal distance between any collision bodies.
The functionality is demonstrated on the custom model of two Kuka iiwa14 manipulators:
Screencast from 06-25-2024 01:20:45 PM.webm
There are some notable modifications outside of the barrier class:
configurationnow (optionally) accepts collision model and path to ansrdffile to handle collisions. Note that back-compatibility is preserved, and collisions are not computed if the model is not provided We are kindly asking you to review those changes and make any comments on things you think are done incorrectly.Note that while it is more expressive than Spherical Barrier, it is also much more computationally expensive. Therefore, we believe that those two barriers have different application scenarios, and should co-exist in this package.
Any further suggestions would be welcome, waiting for your feedback!
P.S. Unit Tests have not been added yet, we want first to make sure we agree on the details of implementation, and then we would quickly add them before merging.