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RethinkRobotics / baxter

Baxter Research Robot SDK
www.rethinkrobotics.com/sdk
BSD 3-Clause "New" or "Revised" License
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Expose Collision Avoidance and Detection Information #105

Closed anuranbaka closed 11 years ago

anuranbaka commented 11 years ago

Feature Request: Please make make it possible to read the state of the collision avoidance and detection mechanisms so that user code can react to these events.

For collision avoidance, knowing which regions have an impending collision, and how the joint forces are being modified would be useful.

For collision detection, it would be especially useful to know which joint or joints detected the collision as well as any estimate of the forces attributable to collision, but just a binary signal for collision/no collision would be useful too.

rethink-kmaroney commented 11 years ago

You will see that this has been addressed and is a feature included in our next release as of #116.

Collision detection with the outside world is now described with a boolean.

Collision avoidance reports which robot collision links are intersecting and therefore causing the application of collision avoidance torques. The torques calculated to avoid self collision are then converted to joint velocities and applied in addition to the existing velocity command.