In the Fanuc UI, robot collisions are defined by spheres and capsules that are significantly bigger than the collisions shapes provided with the URDF.
As a consequence, the collisions shapes of the URDF and the ones actually limiting the moves of the robot are different. It seems to lead to discrepancies in achievable moves.
Are you aware about ways to tackle this or actual definition files from Fanuc that can be used to update the URDF?
Dear,
In the Fanuc UI, robot collisions are defined by spheres and capsules that are significantly bigger than the collisions shapes provided with the URDF.
As a consequence, the collisions shapes of the URDF and the ones actually limiting the moves of the robot are different. It seems to lead to discrepancies in achievable moves.
Are you aware about ways to tackle this or actual definition files from Fanuc that can be used to update the URDF?
Thanks