Swept volume collision check in pybullet
Collision checking pairs of contour trajectories in a non-naive way.
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Divide into time-offset paths based on specified frequency -
Get order of time stamps to check across each path (not linear - faster) -
Get joint positions of each trajectory based on time stamps -
Collision check at that position (other arms at home positions) -
Convert from discrete time-offset paths to valid time ranges -
Speed test with real contours