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Support HPP-FCL as collision checker #1435
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This sounds amazing, definitely, +1 to adding this to be MoveIt should be one of our short-term goals. |
Please see (and comment on ...) moveit/moveit#3167 as well for improving on the broad phase part of the collision checking. |
+1 this would be such a great enhancement. I've been trying out Pinocchio, which uses HPP-FCL, and it's quite nice. Also has Python bindings which plays well with our goals with MoveIt. |
Hi all, You may take a look at our latest benchmarks (see https://github.com/humanoid-path-planner/hpp-fcl?tab=readme-ov-file#a-high-performance-library) done by @lmontaut to see the speed of hpp-fcl compared to alternative open-source solutions: Best, |
Great work! I would like to see (or do myself ... ) a similar graph for broad-phase which might or might not get called more often depending on the question at hand |
@simonschmeisser Do you have a set of scenes you would like to test? |
By the way, here is a follow-up of our R:SS conference with several accelerated variants of GJK. |
See https://github.com/humanoid-path-planner/hpp-fcl
Authors of this heavily-changed version of FCL published a paper at RSS this year about speedups of factor 2 for convex collision checking over standard GJK.
Together with providing support to mark meshes as convex in general (!), it could accelerate our current pipelines a lot.
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