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isaac-sim / IsaacLab

Unified framework for robot learning built on NVIDIA Isaac Sim
https://isaac-sim.github.io/IsaacLab
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[Question] How to check collision between two robot arms? #1061

Open KevinGeng3 opened 6 hours ago

KevinGeng3 commented 6 hours ago

Question

Based on franka_lift_cube task, I add one more franka arm. So now I need to check collision between two arms, but I think there is no collision detection API right now. Does someone know how to implement this function? Thank you very much!

KevinGeng3 commented 6 hours ago

One idea is using contact_sensor, but I do not know how to filter the contact between arm and cube. I think there is no clear tutorial about how to use contact_sensor.