reconstructing-collision-worlds

Run once after perception and before grasping, with the same observation the perception skills used. build_collision_world merges depth from the selected views (camera_names, comma-separated; empty = all) into alpha-shape meshes through geometry.build_world_config and returns a WorldConfig plus the mesh names.

What is excluded

• The grasp target by its perceived target_mask in mask_camera_name (default overhead), and by segmenting target_description in every other selected view so the object does not become a static obstacle where it later rotates in the hand.
• The robot, by text segmentation per view and by motion.get_robot_collision_spheres when the connector provides it (a connector without it falls back to the visual masks).
• A perceived fixture_mask from the mask camera, unless it is a full-frame placeholder that would erase the world.

What is carved

• An approach tube of 55 mm radius along outward_sign * fixture_axis ending 12 mm behind fixture_tip, when both are given. Use outward_sign: -1 for an axis that points into the fixture (an aperture's inward axis) and 1 for one that points toward its free side (a shaft).
• A vertical corridor of corridor_radius through corridor_center between corridor_rim_z - 35 mm and +180 mm, when the centre and a positive radius are given. The radius is the caller's measurement (for example a fraction of the perceived aperture radius); the script adds no margin.

Cleaning and packing

Sparse, nearly zero-thickness sheets under 15 cm are dropped; components lying entirely below sheet_floor_z or spanning more than sheet_max_extent_m are invalid-depth returns and are dropped too (0 disables either gate). voxel_size trades surface ripple for detail. pack_meshes: true folds every component into one perceived_scene mesh for planners whose scene cache admits few named obstacles.

Boundaries

• No simulator state, CAD model, or fixed world coordinate is read.
• The script raises when no mesh survives; the graph routes that to failed.