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humanoid-path-planner / hpp-pinocchio

Wrapping of Pinocchio library into HPP
BSD 2-Clause "Simplified" License
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Self collision geometries #182

Open florent-lamiraux opened 1 year ago

florent-lamiraux commented 1 year ago

In some robots like Franka Emika Panda, the URDF file contains some links that are used only for self-collision checking. Removing collision tests between these links and the regular ones can be done using the srdf disable_collision keyword (although cumbersome). There is currently no way to disable collision between the self collision links and the environment. Should we implement this here: https://github.com/humanoid-path-planner/hpp-pinocchio/blob/bcd11eb78aad30a94a6bea25a3161caac7c0f3ba/src/urdf/util.cc#L48 by detecting lines like

<disable_collisions link1="panda_link1_sc" link2="universe">

in the SRDF file ?

florent-lamiraux commented 1 year ago

After thinking further, it would not be so simple since when building a composite robot with two such robots, the collisions between the self collision objects of different robots would be difficult to remove.