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feat: Integrate min distance #167

Merged
merged 82 commits into from
Apr 8, 2024
Merged

feat: Integrate min distance #167

merged 82 commits into from
Apr 8, 2024

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yrh012
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@yrh012 yrh012 commented Mar 15, 2024 •
edited by domire8
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Description

This PR solves the issue by calculating the minimum distance between every robot link and return a matrix sized number of joints by number of joints where at element (i, j), it contains the minimum distance between link i and link j. In addition to that, it also implements the pybindings to expose this method through python and accordingly will return a numpy array.

Review guidelines

Estimated Time of Review: 7 minutes

Checklist before merging:

  • Confirm that the relevant changelog(s) are up-to-date in case of any user-facing changes

yrh012 and others added 17 commits March 13, 2024 09:07
@yrh012
feat: add headers
14f7775
@yrh012
feat: implement source code
3825e80
@yrh012
feat: add cpp tests
f3641b7
@yrh012
feat: add meshes
e0f38ce
@yrh012
feat: add python bindings
0234ab5
@yrh012
feat: test collisions in python
342ad6c
@yrh012
fix: rename ur5e folder
aa34e49
@yrh012
fix: Dockerfile cache ID
8664e82
@github-actions
7.3.4 -> 7.3.5
13a62f0
@github-actions
Update CHANGELOG
7162321
@yrh012 @domire8
Update source/robot_model/include/robot_model/Model.hpp
044e891 
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
@yrh012
fix: apply review changes
584a2df
@yrh012
Merge branch 'feat/collision-detection-robot' of github.com:aica-tech…
ae1f05f 
…nology/control-libraries into feat/collision-detection-robot
@yrh012
fix: move import from hpp to cpp
3543719
@yrh012
feat: compute minimum distances
9efa13f
@yrh012
feat: compute minimum distance pybind + unit test
90bdfdb
@yrh012
fix: adjust comments
396cdd1
@yrh012 yrh012 self-assigned this Mar 15, 2024
yrh012 and others added 3 commits March 19, 2024 10:35
@yrh012 @domire8
fix: unsigned to unsigned int
9d4c558 
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
@yrh012
fix: integrate function callback - WIP
116a35a
@yrh012
feat: update tests
86d6803
domire8
domire8 reviewed Apr 2, 2024
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source/robot_model/include/robot_model/Model.hpp Outdated Show resolved Hide resolved
source/robot_model/src/Model.cpp Outdated Show resolved Hide resolved
source/robot_model/src/Model.cpp Outdated Show resolved Hide resolved
yrh012 and others added 2 commits April 2, 2024 18:00
@yrh012
fix: raise exception if geom not loaded
321fb4a
@yrh012 @domire8
fix: nitpick
4981085 
Co-authored-by: Dominic Reber <71256590+domire8@users.noreply.github.com>
Base automatically changed from feat/collision-detection-robot to develop April 3, 2024 09:05
domire8
domire8 reviewed Apr 3, 2024
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Wrong format in Model.cpp and test_collisions.cpp. You can select the changes you made and then right click and Format Selection in the devcontainer

source/robot_model/src/Model.cpp Outdated Show resolved Hide resolved
eeberhard
eeberhard reviewed Apr 5, 2024
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Looking very good! Just some nitpicks

source/robot_model/src/Model.cpp Outdated Show resolved Hide resolved
source/robot_model/include/robot_model/Model.hpp Outdated Show resolved Hide resolved
source/robot_model/include/robot_model/Model.hpp Outdated Show resolved Hide resolved
yrh012 and others added 3 commits April 8, 2024 09:56
@yrh012 @eeberhard
fix: apply nitpicks
2444297 
Co-authored-by: Enrico Eberhard <32450951+eeberhard@users.noreply.github.com>
@yrh012
fix: change method nanme
0025bfe
@yrh012
Merge branch 'feat/integrate-min-distance' of github.com:aica-technol…
08310cc 
…ogy/control-libraries into feat/integrate-min-distance
domire8
domire8 previously approved these changes Apr 8, 2024
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🔥

@domire8 domire8 linked an issue Apr 8, 2024 that may be closed by this pull request
Integrate calculation of the minimum distance between robot links #166
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eeberhard
eeberhard previously approved these changes Apr 8, 2024
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nice work!

@yrh012 yrh012 dismissed stale reviews from eeberhard and domire8 via 8d21227 April 8, 2024 15:21
@yrh012 yrh012 requested a review from domire8 April 8, 2024 15:21
eeberhard
eeberhard previously approved these changes Apr 8, 2024
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@yrh012 yrh012 merged commit eaedccc into develop Apr 8, 2024
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@yrh012 yrh012 deleted the feat/integrate-min-distance branch April 8, 2024 15:36
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@domire8 domire8 domire8 approved these changes

@eeberhard eeberhard eeberhard left review comments

@bpapaspyros bpapaspyros Awaiting requested review from bpapaspyros

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Integrate calculation of the minimum distance between robot links
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@yrh012 @bpapaspyros @eeberhard @domire8