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frankaemika / libfranka

C++ library for Franka research robots
https://frankaemika.github.io
Apache License 2.0
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Feature Request: setSelfCollisionBehavior() #74

Open ndehio opened 4 years ago

ndehio commented 4 years ago

We can already set thresholds for joint/cartesian collisions via the setCollisionBehavior() function. Could you please also provide a method to modify the thresholds for self-collisions? Thanks

Stakkay commented 3 years ago

The setCollisionBehavior() function let's the user set force and torque thresholds to detect contacts and collisions. Self-collisions on the other hand happen when the geometry of the robot intersects with itself (i.e. one part of the robot gets too close to another part of the robot). What thresholds do you want to set for self-collisions?