Merge bounding boxes and Merge Descriptions #258
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use shifting instead of transforming an axis_aligned_bounding_box
…_descriptions # Conflicts: # test/test_object.py
…boxes # Conflicts: # src/pycram/datastructures/dataclasses.py
AbdelrhmanBassiouny
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AbdelrhmanBassiouny
changed the title
Tigul
reviewed
Jan 23, 2025
src/pycram/datastructures/world.py
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| @@ -425,7 +425,7 @@ def remove_object(self, obj: Object) -> None: | |||
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| obj.detach_all() | |||
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| if self.remove_object_from_simulator(obj): | |||
| if remove_from_simulator and self.remove_object_from_simulator(obj): | |||
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I'm a little confused about the remove_from_simulator arg, if it is set to False the method does nothing except detaching all object from this object
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so I removed the parameter, but the thing is in Multiverse, environments cannot be removed (or not recommended to do so) and thus they will not be removed, so in this case the self.remove_object_from_simulator(obj) will return False, and to let pycram have knowledge of this, I keep the object in the world list of objects (of pycram) and I do not remove it from the original state.
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Ah ok, in that case the parameter makes sense
…d other multiverse related issue.
…unding_boxes # Conflicts: # src/pycram/robot_descriptions/ur5e_controlled_description.py
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If we have multible bouding boxes lets say for multi link objects and want to get a bounding box for a combination or all of this links, this is a way of combining them into a single mesh object.
Currently, it is done in two ways, one is using RandomEvents, and the other is just using all the faces of all the bounding boxes together and making a mesh out of it.
Merging descriptions is basically merging two objects into one object by merging their urdf files into one and attaching them to each other, this is useful when you want to think of two attached objects as one object instead of two.