search

ipa320 / cob_manipulation

www.care-o-bot.org
Apache License 2.0
31 stars 57 forks source link

[cob_obstacle_distance_moveit] skip distance computation for dummy links #111

Open fmessmer opened 7 years ago

fmessmer commented 7 years ago

in order to reduce distance computations within cob_obstacle_distance_moveit, we should skip distance computation for links which are "dummy links" within the urdf, e.g. torso_1_link or *_base.link (as those are most likely never colliding anyway or have a larger collision link encasing them)

preferably, this is done via a yaml file (cob_hardware_config/X_self_collision.yaml) and the parameter is named skip_links which is a list of links to be skipped...

@fmessmer FYI

mjpatell commented 4 years ago

Hello @fmessmer,

Still this is an issue or somebody take over it and solve it?

Thank you.