Self collision problem

[liufang-robot]

Hello, I have a problem. I load the scene (official puma560) case as follow:

# remove the boxes model in unimation-puma560_boxes.xml
std::shared_ptr<rl::sg::Factory> factory = std::make_shared<rl::sg::XmlFactory>();
std::shared_ptr<rl::sg::Scene> scene = std::make_shared<rl::sg::bullet::Scene>();
factory->load("unimation-puma560_boxes.xml", scene.get());
rl::sg::SimpleScene* simpleScene = dynamic_cast<rl::sg::SimpleScene*>(scene.get());
std::cout<<"is colliding "<<simpleScene->isColliding()<<"\n";

I removed the boxes model in unimation-puma560_boxes.xml. Then check if the scene is in collision. the result shows that the scene is in collision. I believe it's because some conjunctive link models in puma560 are in collision.

I know that in mdl xml file, there is an ignore tag in body, which can be read from kinematic api. But the SimpleScene don't use the kinematic information directly.

So the problem is what is the best way to check the scene collision considering the conjunctive link ignore information?

Shortly speaking, I want to quicked get the result that the above case is not really in collision.

Thanks.

[rickertm]

The self collision properties are currently part of the kinematic descriptions, therefore the scene graph abstraction does not have access to this information. Kinematic and geometric models are combined in rl::plan::SimpleModel, which provides a function bool isColliding(const ::rl::math::Vector& q) that you can use:

rl::plan::SimpleModel simpleModel;
simpleModel.kin = kinematicModel; // for rl::kin::Kinematics*
simpleModel.mdl = kinematicModel; // for rl::mdl::Kinematic*
simpleModel.scene = simpleScene;
simpleModel.model = simpleScene->getModel(0); // id of kinematic model in scene
bool isColliding = simpleModel.isColliding(q);

[liufang-robot]

thanks for your reply. I think I get it, just use the SimpleModel in plan to do the collision check.It will take into account the ignore ref information of kinematics(I have checked the source code).