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...
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 namedskip_links
which is a list of links to be skipped...@fmessmer FYI