Enable distance sensing with SDF geoms #2218
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Thanks! Can you do the CLA thing please? 🙏 |
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Oh I thought I took care of it, is there something more I need to do? I see "✅ All contributors are covered under a CLA with Google" in the check output now: https://github.com/google-deepmind/mujoco/pull/2218/checks |
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Tagging @yuvaltassa @kbayes , could I get a review on this? |
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@dyackzan, sorry for the delay, but I tried this out, and I don't think it's going to be a viable solution. Can you use convex hulls? The margin trick you see here is going away for a proper GJK implementation to compute geom distances. However, that only supports convex geoms. |
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@kbayes In the new implementation will there be a solution for computing distances for SDF geometries? For my application I need to used SDF geometries and I need to be able to get the distance to the nearest contact with the distance sensor. If there is another solution to #2216 then I'm ok not merging this |
Resolves #2216