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pal-robotics / tiago_robot

http://wiki.ros.org/Robots/TIAGo
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Self-Collision problem with Tiago URDF #15

Closed vk-mittal14 closed 2 years ago

vk-mittal14 commented 3 years ago

Screenshot from 2021-09-23 01-35-39

While following the Tiago Moving Individual Joints tutorial I found the robot hand goes inside the robot. I found this problem while using the Tiago URDFs in PyBullet.

To reproduce:

saikishor commented 3 years ago

@i-m-vivek Thanks for showing interest in our TIAGo Simulation.

Regarding your query of the joints ending up with self-collision. The joint trajectory controllers doesn't have any idea of the robots collision meshes and it doesn't take care of it. Its sole purpose is to move the joints within one joint limit to another joint limit, even if it ends up in self collision.

If you are interested to avoid cases of self-collision. You should be looking into moving the joints with MoveIt. The self collision configuration is encoded within the package tiago_moveit_config package in form of .srdf.

Please feel free to get back to us, in case you have more queries.

Thank you,

Best Regards, PAL Robotics Team.

saikishor commented 2 years ago

Hello @vk-mittal14,

We will be closing this issue due to inactivity. We hope you found the solution.

Have a great day,

Best Regards, PAL Robotics Team