DualArm panda in collision

🤖 Working on it!

Hi,

I tried playing with the DualArm class today (using the cloud version of the library).

I created two independent panda robots spawning at some distance from each other, and combined these two arms in a DualArm instance. However, when planning for a trajectory which should be collision free, I get an error stating there is an error between 'link7' and 'link7' (presumably the same link from both panda robots).

As these links don't appear in collision in my own visualization, I tried to move the base of the left robot 10m away from the right robot. Unfortunately, I get the same error message, which in this case doesn't make sense for sure.

Assuming that the problem could come from using 2 panda robot that share the same link names, I tried using 1 panda and 1 ur5, both 4 meters from each other, but the result is the same: collision between 'link4' and 'forearm'.

If not, any idea what the problem could be?

Thank you

Alban Laflaquiere

3 months ago

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Lars Berscheid changed status to 🤖 Working on it!

3 months ago

Lars Berscheid

Thanks Alban, there was indeed an issue on our server - it should now be resolved.

This script runs now as expected for me:

from jacobi import Planner, Frame
from jacobi.robots import FrankaPanda, DualArm

panda1 = FrankaPanda()
panda1.base = Frame(x=5.0)

panda2 = FrankaPanda()
panda2.base = Frame(x=-5.0)

robot = DualArm(panda1, panda2)
planner = Planner(robot)

start = [0.0, 0.0, 0.0, -0.1, 0.0, 0.0, 0.0]
goal = [1.0, 0.0, 0.0, -0.1, 0.0, 0.0, 0.0]

trajectory = planner.plan(start + start, goal + goal)
print(trajectory)

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DualArm panda in collision

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