Optionally check for collisions in Differential IK #15

sea-bass · 2024-04-04T20:58:38Z

This checks for collision after an IK try is complete and the solution is within joint limits.

Future work may involve adding a nullspace task to actually push the solves away from collision using a contact Jacobian.

github-actions · 2024-04-04T20:59:24Z

Coverage Report

File	Stmts	Miss	Cover	Missing
pyroboplan
__init__.py	0	0	100%
pyroboplan/core
__init__.py	0	0	100%
planning_scene.py	5	5	0%	1, 3, 7–9
utils.py	47	8	82%	128–133, 135–136
pyroboplan/ik
__init__.py	0	0	100%
differential_ik.py	92	16	82%	127–128, 137–138, 162, 166–168, 174, 177, 205, 208, 216–217, 222, 228
nullspace_components.py	16	16	0%	3, 6, 22, 25, 45–46, 48–54, 57, 75–76
pyroboplan/planning
__init__.py	0	0	100%
graph.py	33	33	0%	1, 3, 6, 9, 22–25, 28, 31, 44–46, 49, 52, 56–57, 59, 68, 70, 81–84, 86, 100–101, 103–107, 109
rrt.py	91	91	0%	3–4, 6, 13, 15–16, 19, 22–23, 25–26, 28–29, 31–32, 35, 44, 55–56, 58–59, 61, 74–78, 80–81, 84–89, 92, 95, 98–101, 103, 105–107, 110–111, 113–114, 117–120, 123–124, 126, 129, 132–134, 137, 140, 143–146, 149–155, 157–159, 161, 163, 190–195, 199–200, 204–206, 209–210
utils.py	6	6	0%	3, 6, 26–29
pyroboplan/visualization
__init__.py	0	0	100%
meshcat_utils.py	18	11	38%	40–41, 43, 45, 57, 81–82, 109–111, 113
TOTAL	308	186	39%

Tests	Skipped	Failures	Errors	Time
13	0 💤	0 ❌	0 🔥	6.871s ⏱️

sea-bass added 2 commits April 4, 2024 16:39

Add optional collision checking to DifferentialIk

2c56b88

Add unit test for self-collision IK, move verbose arg to solve

94dbce0

sea-bass added 2 commits April 4, 2024 17:02

Update comment

c4aef5e

Correct coverage URL links in action

1393906

sea-bass merged commit 191f847 into main Apr 4, 2024
3 checks passed

sea-bass deleted the collisions-in-ik branch April 4, 2024 21:06

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