robot_capsule_generator

Tools to generate capsules from mesh files (using roboptim-capsule and trimesh2), and apply the capsule parameters to a urdf model.

USAGE:

• robot_capsule_urdf input.urdf -o output.urdf

e.g. robot_capsule_urdf /home/ros2_ws/src/huro/resources/description_files/urdf/g1/g1_23dof.urdf -o g1_23dof_capsule.urdf

Creates a urdf with cylinders for collisions.

• robot_capsule_urdf_to_rviz output.urdf -o output2.urdf

e.g. robot_capsule_urdf g1_23dof_capsule.urdf -o g1_23dof_capsule.rviz

Creates a urdf with cylinders and spheres for collisions, using output from the previous script.

• ./compute_default_collisions --urdf_path robot.urdf --num_trials 1000 --min_collision_fraction 0.001 --max_collision_fraction 0.95

e.g. ./compute_default_collisions --urdf_path /home/ros2_ws/src/tiago_dual_cartesio_config/capsules/urdf/tiago_pro_capsules.rviz --num_trials 10000

./compute_default_collisions generates a file collision_pairs.json containing a list of link pairs that can be used in a collision avoidance constraint. The list is obtained by considering all possible collision pairs in the robot model and removing pairs that are always or never in collision. To determine these cases, the algorithm samples num_trials robot configurations and computes the distance for each collision pair. A pair is considered in collision when the distance falls below a threshold (0.001). If the fraction of detected collisions is greater than or equal to max_collision_fraction, the link pair is classified as always in collision. Conversely, if the fraction of detected collisions is less than or equal to min_collision_fraction, the link pair is classified as never in collision.

Note:

robot_capsule_generator: an executable which generates a capsule given a mesh