collision Module¶
Check collision calls, use collision reports, and do distance queries.
Running the Example:
openrave.py --example collision
Command-line¶
Usage: openrave.py [options]
Example shows how to query collision detection information using openravepy
Options:
-h, --help show this help message and exit
OpenRAVE Environment Options:
--loadplugin=_LOADPLUGINS
List all plugins and the interfaces they provide.
--collision=_COLLISION
Default collision checker to use
--physics=_PHYSICS physics engine to use (default=none)
--viewer=_VIEWER viewer to use (default=qtcoin)
--server=_SERVER server to use (default=None).
--serverport=_SERVERPORT
port to load server on (default=4765).
--module=_MODULES module to load, can specify multiple modules. Two
arguments are required: "name" "args".
-l _LEVEL, --level=_LEVEL, --log_level=_LEVEL
Debug level, one of
(fatal,error,warn,info,debug,verbose,verifyplans)
--testmode if set, will run the program in a finite amount of
time and spend computation time validating results.
Used for testing
Main Python Code¶
def main(env,options):
"""Main example code.
"""
env.Load('robots/barrettwam.robot.xml')
# register an optional collision callback
handle = env.RegisterCollisionCallback(collisioncallback)
robot1 = env.GetRobots()[0]
try:
# when doing fast ray collision checking, can specify multiple rays where each column is one ray
ray1 = array((0,0,-10,0,0,100)) # specify dir*range, pos
ray2 = array((0,0,10,0,0,-100)) # specify dir*range, pos
inliers,hitpoints = env.CheckCollisionRays(r_[[ray1],[ray2]],robot1)
print 'rays hit:',inliers,'hit points:',hitpoints
# can get more fine grained information
report1 = CollisionReport()
inlier1 = env.CheckCollision(Ray(ray1[0:3],ray1[3:6]))
inlier1 = env.CheckCollision(Ray(ray1[0:3],ray1[3:6]),report1)
print 'numcontacts: ',len(report1.contacts),' pos: ', report1.contacts[0].pos,' norm: ',report1.contacts[0].norm
except openrave_exception,e:
print e
robot2 = env.ReadRobotXMLFile('robots/mitsubishi-pa10.zae')
env.Add(robot2)
body1 = env.ReadKinBodyXMLFile('data/mug1.kinbody.xml')
env.Add(body1)
env.CheckCollision(robot1,robot2)
env.CheckCollision(robot1,body1)
env.CheckCollision(robot2,body1)
print 'checking self collision'
robot1.SetDOFValues([2.98],[3])
if not robot1.CheckSelfCollision():
print 'no collision detected (bad)!!, ',env.CheckCollision(robot1.GetLinks()[1],robot1.GetLinks()[13])
handle.close()
# test distance queries
T = eye(4)
T[0,3] = 0.5
robot1.SetTransform(T)
T = eye(4)
T[1,3] = 0.5
body1.SetTransform(T)
print 'move the robots to update the closest distance'
if not env.GetCollisionChecker().SetCollisionOptions(CollisionOptions.Distance|CollisionOptions.Contacts):
print 'current checker does not support distance, switching to pqp...'
collisionChecker = RaveCreateCollisionChecker(env,'pqp')
collisionChecker.SetCollisionOptions(CollisionOptions.Distance|CollisionOptions.Contacts)
env.SetCollisionChecker(collisionChecker)
report = CollisionReport()
while True:
contacts = []
with env:
check = env.CheckCollision(robot1, report)
print 'mindist: ',report.minDistance
contacts += report.contacts
check = env.CheckCollision(robot2, report)
print 'mindist: ',report.minDistance
contacts += report.contacts
check = env.CheckCollision(body1, report)
print 'mindist: ',report.minDistance
contacts += report.contacts
handles = [env.drawlinestrip(points=array((c.pos,c.pos-c.depth*c.norm)), linewidth=3.0, colors=array((1,0,0,1))) for c in contacts]
time.sleep(0.1)
Class Definitions¶
Questions/Feedback
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