MPlib
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haosulab
a Lightweight Motion Planning Package
Maybe you could check whether the file already ends with .convex.stl, and also check if the convex file exists? https://github.com/haosulab/MPlib/blob/main/src/fcl_model.cpp#L32
* Updated all examples. * Made Pose.p mutable for easier manipulation * Added two convenience functions `attach_currently_touching_object` and `detach_all_objects`
As titled, some users may want to have robots interact with each other. This is a low-priority item.
* Finish up the documentation * Add tutorial and more demos (with other robots) * Make a video of the new features
Some users do not care about the rotation of the end-effector, as long as the arm reaches a certain position. This seems like a good opportunity to optimize the time...
In https://github.com/haosulab/MPlib/blob/main/mplib/planner.py line 616-618: ```python def _transform_goal_to_wrt_base(self, goal_pose: Pose) -> Pose: """Converts goal pose from T_world_goal to T_base_goal""" return self.robot.get_base_pose().inv() * goal_pose ``` the relative transformation from goal to base...
Hello, I am trying to install MPlib using `pip` to use it in my python project. But when I try to install it in a MacOS, I am getting the...
I am creating a Planner object without passing the SRDF path, and the software is crashing: ``` self.__path_planner = Planner(urdf=ROBOT_INFO.urdf_path, srdf="", user_link_names=ROBOT_INFO.links, user_joint_names=ROBOT_INFO.joints, move_group=TARGET_LINK_TO_MOVE, joint_vel_limits=np.ones(7), joint_acc_limits=np.ones(7) ) ``` in the...
After I attach an already vhacded nonconvex mesh to the end effector of panda arm with the command ``planner.update_attached_mesh(mesh_path, pose=Pose([0, 0, 0], [1, 0, 0, 0]))``, I try to print...
