Feature/improve collision avoidance #721
Merged
Conversation
This file contains hidden or 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
… maps for normals and collision point calculation
…ay visualization was handled
rjgriffin42
commented
Mar 14, 2025
| @@ -390,27 +422,27 @@ private void optimizeKnotPoints(PlanarRegionsList planarRegionsList, HeightMapDa | |||
| collisionLocationsViz.get(j).setToNaN(); | |||
| collisionGradientsViz.get(j).setToNaN(); | |||
| } | |||
| continue; | |||
There was a problem hiding this comment.
This continue call actually jumped out of the outer loop, which was wrong.
rjgriffin42
commented
Mar 14, 2025
| { | ||
| double scale = swingKnotPoints.get(j).computeMaximumDisplacementScale(collisionGradients.get(j)); | ||
| collisionGradients.get(j).scale(scale); |
There was a problem hiding this comment.
Moved to inside the other if block to make the continue block not needed.
rjgriffin42
commented
Mar 14, 2025
| @@ -77,7 +81,7 @@ public class CollisionFreeSwingCalculator | |||
| private final List<FramePoint3D> defaultWaypoints = new ArrayList<>(); | |||
| private final List<FramePoint3D> modifiedWaypoints = new ArrayList<>(); | |||
|
|
|||
| private final SwingKnotOptimizationResult swingKnotOptimizationResult = new SwingKnotOptimizationResult(); | |||
| private final SwingKnotOptimizationResult swingKnotOptimizationResult = new SwingKnotOptimizationResult(numberOfKnotPoints); | |||
There was a problem hiding this comment.
uses this static variable fixes a size difference.
rjgriffin42
commented
Mar 14, 2025
| @@ -555,10 +556,9 @@ private void checkForCollisions(FootstepPlannerRequest request, PlanarRegionsLis | |||
|
|
|||
| List<Point3D> waypoints = footstepPlan.getFootstep(0).getCustomWaypointPositions(); | |||
| RecyclingArrayList<FramePoint3D> waypointListCopy = new RecyclingArrayList<>(FramePoint3D.class); | |||
| if (waypoints.size() > 0) | |||
| for (Point3D waypoint : waypoints) | |||
There was a problem hiding this comment.
This was a wild bug that caused a bunch of false negatives
rjgriffin42
commented
Mar 14, 2025
| @@ -650,22 +650,22 @@ public double getExtraSizeHigh(Axis3D axis) | |||
| collisionRelativeToEndFoot.changeFrame(endFootPoseFrame); | |||
| collisionRelativeToStartFoot.changeFrame(startFootPoseFrame); | |||
|
|
|||
| double distanceToCollision = collisionBox.distance(collision); | |||
| double distanceToCollision = collisionBox.signedDistance(collision); | |||
There was a problem hiding this comment.
This was also a wild bug that prevented getting the distance correctly.
rjgriffin42
commented
Mar 14, 2025
| if (collisionResult.getSignedDistance() < closestDistance) | ||
| { | ||
| closestDistance = collisionResult.getSignedDistance(); | ||
| closestCollision = new Point3D(collisionResult.getPointOnB()); | ||
| } | ||
|
|
||
| boolean colliding = (closestDistance + 1.5e-2) < 0.0; | ||
| boolean colliding = (closestDistance + 1e-3) <= 0.0; |
There was a problem hiding this comment.
That was way too big an epsilon
rjgriffin42
commented
Mar 14, 2025
| @@ -692,6 +692,8 @@ public SwingPlannerParametersBasics getParameters() | |||
| SwingPlannerParametersBasics parameters = new DefaultSwingPlannerParameters(); | |||
| // parameters.setDoInitialFastApproximation(true); | |||
| parameters.setMinimumSwingFootClearance(0.05); | |||
| parameters.setMaxDisplacementLow(0.5); | |||
| parameters.setMaxDisplacementHigh(0.5); | |||
There was a problem hiding this comment.
This was needed to allow enough expansion
rjgriffin42
commented
Mar 14, 2025
| @@ -503,7 +503,7 @@ private void checkForCollisions(FootstepPlannerRequest request, PlanarRegionsLis | |||
| hittingEndGoal |= endFootPolygon.getMinX() < desiredPosition.getX(); | |||
| hittingStartGoal |= desiredPosition.getX() < startFootPolygon.getMaxX(); | |||
|
|
|||
| double distanceToCollision = foot.distance(collision); | |||
| double distanceToCollision = foot.signedDistance(collision); | |||
PotatoPeeler3000
approved these changes
Mar 18, 2025
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.
No description provided.