Allow users to preload a collision mesh #67
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
amalnanavati
force-pushed
the
amaln/preload_mesh
branch
from
d5012c9
to
5a7cc3d
Compare
amalnanavati
force-pushed
the
amaln/preload_mesh
branch
from
5a7cc3d
to
154e98f
Compare
AndrejOrsula
approved these changes
May 10, 2024
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Description
In my application, I sometimes have to do computations on the mesh before adding it in the collision scene. To avoid loading a mesh twice, this PR allows users to either pass in the mesh filepath, or pass in the mesh itself.
Testing
ros2 launch panda_moveit_config ex_fake_control.launch.pyros2 run pymoveit2 ex_collision_mesh.py --ros-args -p position:="[0.5, 0.0, 0.5]" -p quat_xyzw:="[0.0, 0.0, -0.7071, 0.7071]" -r preload_mesh:="True"