Incorrect sphere:cube distance returned by WorldPrimitiveCollision.get_sphere_distance()

[jstmn]

Hi,

I'm trying to check the ESD to several cubes in a scene but the result is constant, and incorrect.

    cube1 = Cuboid(
        name="cube_1",
        pose=[10.0, 0.0, 0.0, 0.043, -0.471, 0.284, 0.834],   # [x y z qw qx qy qz]
        dims=[1, 1, 1], # [x_length, y_length, z_length]
        color=[0.8, 0.0, 0.0, 1.0],
    )
    world_model = WorldConfig(
        mesh=[],
        cuboid=[cube1],
        capsule=[],
        cylinder=[],
        sphere=[],
    )

    # get collision checker
    tensor_args = curobo.types.base.TensorDeviceType(device=torch.device("cuda", 0))
    collision_checker_config = curobo.geom.sdf.world.WorldCollisionConfig(tensor_args=tensor_args, world_model = world_model)
    world_ccheck = curobo.geom.sdf.world.WorldPrimitiveCollision(collision_checker_config)

    # 
    query_spheres = torch.tensor([0.0, 0., 0., 0.5]).view(1, 1, 1, 4) # center: [0, 0, 0], radius: 0.5
    primitive_collision_buffer = curobo.geom.sdf.world.CollisionBuffer.initialize_from_shape(query_spheres.shape, tensor_args)
    query_buffer = curobo.geom.sdf.world.CollisionQueryBuffer(primitive_collision_buffer=primitive_collision_buffer)

    # 
    weight = torch.zeros(1, 1, 2, 1)
    act_distance = torch.zeros(1, 1, 2, 1)
    dist = world_ccheck.get_sphere_distance(query_spheres, query_buffer, act_distance, weight, compute_esdf=True).view(-1)
    print("dist:", dist)

$ python main_curobo.py 
dist: tensor([-0.7000], device='cuda:0')

The output is -0.7 which indicates a collision. The answer should be 10 - 0.5 (cube) - 0.5 (sphere) = 9 however.

What is being done incorrectly here?

Thanks

• jeremy