Collision avoidance (and self-collision avoidance) for that matter should be specified by the user.
In fabrics, such things are realized using spheres on individuals parts of the robot, such that the union of such sphere englobe the robot.
Ideally, the paramaterized_planner takes the name of the links you want to place spheres on.
collision_avoidance_links: list = [<names>]
For self-collision avoidance you would want to specify pairs as dictonaries
self_collision_avoidance_links: dict = {'panda_ee': [<link_names>], <name_2>: [<link_names_2>]}
maxspahn
commented
2 years ago
Collision avoidance (and self-collision avoidance) for that matter should be specified by the user. In fabrics, such things are realized using spheres on individuals parts of the robot, such that the union of such sphere englobe the robot. Ideally, the paramaterized_planner takes the name of the links you want to place spheres on.
collision_avoidance_links: list = [<names>]For self-collision avoidance you would want to specify pairs as dictonaries
self_collision_avoidance_links: dict = {'panda_ee': [<link_names>], <name_2>: [<link_names_2>]}Do you agree with that @tckarenchiang