no real code changes

Author: joschu

notes/collision-cost-issues.txt

@@ -0,0 +1,68 @@
+face-face degenerate cases actually do happen, where we end up underestimating the decrease in signed distance
+when I run python arm_to_joint.py in 5d0440cfb21a22d0152
+observe that two penazed collisions appear (table_link-r_forearm_link), which the convexification didn't know about
+
+Before step
+==============
+
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_forearm_link (0.0255)
+[DEBUG] CastVsAll checked 14 links and found 1 collisions
+[DEBUG] not using cached collision check
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0580)
+[DEBUG] CollisionCollector: adding collision table_link-r_forearm_link (0.0282)
+[DEBUG] CollisionCollector: adding collision table_link-r_wrist_flex_link (0.0492)
+[DEBUG] CastVsAll checked 14 links and found 3 collisions
+[DEBUG] not using cached collision check
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0580)
+[DEBUG] CollisionCollector: adding collision table_link-r_forearm_link (0.0449)
+[DEBUG] CollisionCollector: adding collision table_link-r_wrist_flex_link (0.0579)
+[DEBUG] CastVsAll checked 14 links and found 3 collisions
+[DEBUG] not using cached collision check
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0632)
+[DEBUG] CastVsAll checked 14 links and found 1 collisions
+
+
+After step
+============
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0649)
+[DEBUG] CollisionCollector: adding collision table_link-r_forearm_link (0.0223)
+[DEBUG] CollisionCollector: adding collision table_link-r_wrist_flex_link (0.0558)
+[DEBUG] CastVsAll checked 14 links and found 3 collisions
+[DEBUG] not using cached collision check
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0562)
+[DEBUG] CollisionCollector: adding collision table_link-r_forearm_link (0.0237)
+[DEBUG] CollisionCollector: adding collision table_link-r_wrist_flex_link (0.0461)
+[DEBUG] CastVsAll checked 14 links and found 3 collisions
+[DEBUG] not using cached collision check
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0562)
+[DEBUG] CollisionCollector: adding collision table_link-r_forearm_link (0.0510)
+[DEBUG] CollisionCollector: adding collision table_link-r_wrist_flex_link (0.0637)
+[DEBUG] CastVsAll checked 14 links and found 3 collisions
+[DEBUG] not using cached collision check
+
+[DEBUG] don't need to add or remove stuff
+[DEBUG] 46 objects in bullet world
+[DEBUG] CollisionCollector: adding collision table_link-r_upper_arm_link (0.0649)
+[DEBUG] CastVsAll checked 14 links and found 1 collisions
+

notes/trajopt-todo.txt

@@ -15,6 +15,8 @@ filtermask arguments in collision_terms
 Eventually
 ===========
 
+do something about METERS
+
 fix up bpmd interface
 
 boost python arguments

src/trajopt/bullet_collision_checker.cpp

@@ -388,7 +388,7 @@ struct CollisionCollector : public btCollisionWorld::ContactResultCallback {
     const KinBody::Link* linkB = getLink(colObj1Wrap->getCollisionObject());
     m_collisions.push_back(Collision(linkA, linkB, toOR(cp.m_positionWorldOnA), toOR(cp.m_positionWorldOnB),
         toOR(cp.m_normalWorldOnB), cp.m_distance1));
-    LOG_DEBUG("CollisionCollector: adding collision %s-%s", linkA->GetName().c_str(), linkB->GetName().c_str());
+    LOG_DEBUG("CollisionCollector: adding collision %s-%s (%.4f)", linkA->GetName().c_str(), linkB->GetName().c_str(), cp.m_distance1);
     return 1;
   }
   bool needsCollision(btBroadphaseProxy* proxy0) const {