make_collision_checker.py example

make_collision_checker.py

def MakeCollisionChecker(*, model_urls: list[str]) -> SceneGraphCollisionChecker:
    model_builder = RobotDiagramBuilder()
    model_builder.parser().package_map().AddMap(...)
    for url in model_urls:
        model_builder.parser().AddModelsFromUrl(url)

    # Identify model instances belonging to the robot.
    known_robot_model_instance_names = [
        "left::panda",
        # "..."
    ]
    robot_models = [
        model_builder.plant().GetModelInstanceByName(name)
        for name in known_robot_model_instance_names
        if model_builder.plant().HasModelInstanceNamed(name)
    ]

    # Create the collision checker around the model.
    model = model_builder.Build()
    checker_params = CollisionCheckerParams(
        model=model,
        robot_model_instances=robot_models,
        edge_step_size=0.05,
        env_collision_padding=0.0,
        self_collision_padding=0.0,
        implicit_context_parallelism=False,
        # We explicitly request the default C-space distance function. We're
        # not doing edge queries, so the default is fine.
        distance_and_interpolation_provider=None,
    )
    return SceneGraphCollisionChecker(checker_params)