How to use the debug feature?

[philippe-nadeau-vention]

Hi,

Thanks for the great work on the implementation of VAMP!

I have noticed that VAMP has a debug feature where the user can call robot.debug(q, env) for some robot configuration q and some environment env and get feedback about which geometric primitives are colliding. From Python, when I try to use this feature on a colliding configuration, I get lists of empty lists while I would have expected some identifier about the colliding primitives.

Could you shed some light on how this feature can be used?

Thanks,
Philippe

[zkingston]

Hi Philippe,

The debug call should return two things: first, a list of the "names" of the collision objects (see relevant code here), and second, a list of all pairs of self-collisions between spheres of the robot. You should set the name of objects to get more information out from the debug call, this can be done with obstacle.name = "name"