GPU-Voxel based collision checking in Python

gpu-colcheck-py is a python module that provides a collision checking functionality that is built over gpu-voxels library. This module was built using pybind11 Cmake-based build system. To install and get it work you will need to get first install gpu-voxels on your machine and then follow the installation instructions below to get it working.

Prerequisites

• A compiler with C++11 support
• Pip 10+ or CMake >= 3.4 (or 3.14+ on Windows, which was the first version to support VS 2019)
• Ninja or Pip 10+
• gpu-voxels and all its requirements

Installation

git clone --recursive https://github.com/viraj96/gpu-colcheck-py.git
pip install ./gpu-colcheck-py

Notes

• Once gpu-voxels is built run the following commands,

export LD_LIBRARY_PATH=<path-to-gpu-voxels-export-dir>/lib:$LD_LIBRARY_PATH
export GPU_VOXELS_MODEL_PATH=<path-to-gpu-voxels-models-dir>
export GPU_VOXELS_PREFIX_PATH=<path-to-gpu-voxels-export-dir>

• You will need to generate the voxel files for the robots that you want to load using the instructions given in the gpu-voxels repository.
• Make sure that the urdf files that you use to load the robots are placed on the positive quadrant of the xyz-axes as gpu-voxels does not support negative quadrants and hence the collision checker might not work as expected.
• To run, first copy rs007l/ to the GPU_VOXELS_MODEL_PATH and then run test script,

python test_basic.py

• Tested on Ubuntu 20.04, Cuda 12 and Python 3.8

References

If you find this repository useful then please cite the original work.