UM-ARM-Lab / arm_robots

Packages for controlling our robots at a high-level, though simple to use ROS and Python interfaces.
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Padded collision checking for safety #9

Open bsaund opened 3 years ago

bsaund commented 3 years ago

Currently Moveit an produce plans arbitrarily close to collision, or possible even in collision. During many moves there is no need to cut the margin of safety so close. This almost certainly will cause physical robot collisions eventually because:

One approach is to create a separate padded URDF, and plan using the {padded/tight} URDF depending on the situation

A better approach would be to directly have this feature in moveit. We are not the only ones: https://github.com/ros-planning/moveit/issues/683

calderpg commented 3 years ago

FYI, TRI is in the process of making public our motion planning stack as part of drake and it supports configurable self- an environment-collision padding. We don't have as broad a set of planners as MoveIt brings in from OMPL, but we have enough for all of the planning tasks we've needed to do.

bsaund commented 3 years ago

Good to know. Let us know when you make this public and we can evaluate

calderpg commented 3 years ago

An update on timeline - we've been working on internal prereqs and tooling on our end, and expect to kick off the public drake parts of this early in Q2 with the goal of everything available and well-documented before the end of the semester.