Support HPP-FCL as collision checker

[v4hn]

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.

[vatanaksoytezer]

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.

This sounds amazing, definitely, +1 to adding this to be MoveIt should be one of our short-term goals.

[simonschmeisser]

Please see (and comment on ...) moveit/moveit#3167 as well for improving on the broad phase part of the collision checking.

[sea-bass]

+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.

[jcarpent]

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,
Justin

[simonschmeisser]

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

[jcarpent]

@simonschmeisser Do you have a set of scenes you would like to test?
@lmontaut Interested in incorporating the broad phases into your benchmarks?

[jcarpent]

By the way, here is a follow-up of our R:SS conference with several accelerated variants of GJK.