Support for other primitive shapes (box, cylinder)?

[Kim-JeongHan]

First of all, thanks a lot for creating this project — it’s super useful!
Currently, bubblify only supports spheres for collision approximation.
Would it also be possible to add other primitive shapes, like boxes or cylinders?

Is there a specific reason spheres were chosen instead of other primitives?
I’m curious if this is a design decision (e.g., simplicity, performance) or just the current implementation status.

Thanks again for your great work!

[bheijden]

Hi Kim,

Good question! I chose spheres for an immediate need to integrate with curobo and VAMP, which expect spherical collision models. Spheres also simplify things, since orientation is irrelevant: each element is just center plus radius. Other primitives would require storing a full pose and extra shape parameters. However, I know that some planners work with capsules (e.g. pyroki), so I can see how that would be useful. I'll keep you posted!

[Kim-JeongHan]

Got it, thanks for clarifying! I’m looking forward to seeing where this goes.