How to use tesseract collision for collision checking ？ #890
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I want to use tesseract collision for collision checking, but I can't find the specific documentation, only in finding some information in https://tesseract-docs.readthedocs.io/en/latest/ |
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Replies: 4 comments 17 replies
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If you are wanting to use it directly, then tesseract_collision has an example showing basic usage found here. If you wanting to use it with loading a urdf and srdf then I recommend looking at the tesseract_environment examples. |
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Thank you, I want to import the urdf of the robot, specify the collision pair and use it, and visualize it, similar to the figure below, how to visualize the returned collision results？ |
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@Levi-Armstrong Thank you for your reply, I am a beginner of tesseract and I am currently trying to use tesseract in python to do collision detection and motion planning for manipulators. I would like to use Tesseract Studio to import the environment to get quick and reliable results to help me verify the correctness of my code or find problems in my code.I read the description of tesseract_qt carefully but didn't find how to install it, can you give me some advice on how to build and use these tools? |
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You will need to clone these three repositories tesseract, tesseract_planning and tesseract_qt into your workspace. Then you should be able to run catkin build. |
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@Levi-Armstrong Thank you for your reply,In my application, only binary collision results are needed, and when I query the document, I found that obtaining binary collision results is much faster than obtaining distance information. But I have browsed through the documentation, examples, and discussions and have not found any relevant APIs. How can I implement it？ |
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In your contact request, set type to FIRST, calculate_penetration to false, calculate_distance to false. |
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I tried to use Tesseract Studio, but after loading ManipulationWidget, it is not working and doesn't show the slider, is there something wrong with the way I loaded it? In fact, I don't understand how to set component info when loading plugins. This problem has been bothering me for some time and I can't find a solution. Can you give me some advice? @Levi-Armstrong
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I recommend loading the config found in tesseract_qt/studio/config to start and review the file. The component infos are used to associated separate plugins to one another. The plugins communication using Qt Event Filters and this is used to know if a plugin should operate on an event. In your case you would want to probably use the same component info for both the environment and manipulation plugin so they are associated with each other. Then way when you move the slider the data in the environment widget get updated. Also right now they should all have the same scene name. In the future it will be possible to have multiple which would result in a different render table. A case where you might have multiple is if you wanted to load multiple environment widgets and load different urdf or if using the ros environment plugin associated with a different topic. |
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Also on the manipulation widget do not forget to click the reload button. The reload is to pull an updates from the associated environment where say links were moved or changes. |
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@Levi-Armstrong Thanks for your detailed explanation. I tried the solution, but when I clicked reload button, some errors appeared: libEGL warning:
I found that since I am using wsl, there are some problems with using hardware rendering with gzsim. I was wondering if it is possible to unforce hardware rendering in the code or use software rendering? But I can't find a modification when I look at the source code. Can you tell me where to change it if it is possible? |
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Did you try exporting this |
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Yes, I tried both software rendering and hardware rendering and got different errors respectively. |
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Not sure. I recommend posting your issue on that thread and see what they say. |
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Ok, thanks for your reply |
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If you are wanting to use it directly, then tesseract_collision has an example showing basic usage found here. If you wanting to use it with loading a urdf and srdf then I recommend looking at the tesseract_environment examples.