get_world_self_collision_distance_from_joints keep getting all zero result

[frankchan12138]

Hello, @balakumar-s , I try to use VoxelGrid to check whether the robot_trajectory is valid as the code follow. But I keep getting d_world all zero even when I add obstables in the FOV of with realsense camera to generate collision scene. Is there any advice to figure out what's wrong?

rb_world_config = RobotWorldConfig.load_from_config(robot_dict, world_file, tensor_args,
            collision_checker_type = CollisionCheckerType.VOXEL, collision_activation_distance=0.0)
self.__curobo_fn = RobotWorld(rb_world_config)
...
voxel = [esdf_grid]
self.__curobo_fn.update_world(WorldConfig(
            sphere = sphere_list,
            cuboid = cuboid_list,
            cylinder = cylinder_list,
            mesh = mesh_list,
            voxel = voxel_list)
        )

array_data = []
for i in range(0, min(len(request.robot_trajectory.joint_trajectory.points), 10)):
    array_data.append(request.robot_trajectory.joint_trajectory.points[i].positions)

q_s = self.__tensor_args.to_device(np.array(array_data))
d_world, d_self = self.__curobo_fn.get_world_self_collision_distance_from_joints(q_s)

[balakumar-s]

The WorldConfig needs to be converted to supported types:

update_world(WorldConfig(...).get_collision_check_world()