Add extension collision checker #48
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added 6 commits
February 8, 2025 15:16
spellingcat
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Feb 11, 2025
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does this actually prevent collision or just tell you whether it is or not?
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this only tells you if a position is a collision, main use case is for sim checks. a full collision avoiding mechansim pathing system is a lot more complicated. would be fun! |
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this pr adds a method that checks if the arm/manipulator is colliding with several points of interest. this is not run irl by default, and is mainly meant for collision checking in sim to validate extension. rn net scoring has an issue with retraction; ill fix that in another pr.