Disable specific collisions
👍 Gathering votes
Is it possible to disable collision checks between desired links (robot links and or environment obstacles)?
I saw the soft collision check option, but it can sometimes be useful to completely disable collisions between specific pairs of links/obstacles.
Thanks
Alban Laflaquiere
11 months ago
Activity
2 votes
Hi Alban,
Would it be sufficient to ignore collision checking with the end effector? Alternatively, could you describe a use case where you would want to disable collision checking with specific robot joints?
0 8 months ago Reply
Hi Yahav,
I think disabling collision with the end-effector would cover most use cases I can think about for now.
Thanks
0 7 months ago Reply
@Alban Laflaquiere: could you share real wolrd use cases to motivate this feature? it could help us figure out how to enable it on the platform
0 6 months ago Reply
@Yahav: I guess the most intuitive one would be when the robot is moving very close to (or even in) an obstacle to do some precise manipulation. In that context, the collision shapes of the gripper and obstacles would be too coarse, or maybe it's not even possible to properly model the actual obstacle in the real world (for instance it could partly non-rigid), and disabling (temporarily?) the collisions between the gripper and obstacle would allow us to do the manipulation we want to plan.
0 6 months ago Reply
11 months ago
This is currently not possible, but sounds like a useful feature!
0 11 months ago Reply