Unable to load collision spheres properly

[patorrad]

My team is working on implementing STORM on a UR16e robot. We defined the collision spheres to the best of our abilities following the example provided for the Franka Panda robot and using the stl files for the UR16e. The robot still collides with primitives. I have attached our robot collision sphere definition file and the mpc definition file. This video shows an example of the collision occurring.

After speaking to Mohak we are trying to debug this issue by visualizing the spheres utilizing the w_batch_link_spheres object and update_batch_robot_collision_objs method in the class RobotSphereCollision in robot.py.

Any further guidance or an existing method/code would be appreciated.

ur16e_collision.txt
ur16e_reacher_collision.txt

[balakumar-s]

The video link is broken. Could you send the video again?

[patorrad]

Sorry, the video had the wrong link. I followed Mohak's suggestion and was able to visualize the collision spheres in the model. This helped me define them correctly. I can make a pull request with my code. It is a useful feature.

[balakumar-s]

Yes, can you make a PR? This will be very helpful. Thanks!

Are you still seeing collisions?

[kaustabpal]

Sorry, the video had the wrong link. I followed Mohak's suggestion and was able to visualize the collision spheres in the model.

Hi, can you please share how you visualized the collision sphere in the model?

[patorrad]

I wrote some code for it. I still need to do the pull request. I can do it next week.

[kaustabpal]

That would be really helpful. Thanks.

[kaustabpal]

I wrote some code for it. I still need to do the pull request. I can do it next week.

A kind reminder to do the pull request by this week.

[patorrad]

Done.