Temporary remove collision check on MoveIt
Hi,
I want to perform a collaborative manipulation task with two robotic arm. At a certain moment of the pipeline, one robot have to "touch" the other robot with its end effector. Thus I have to temporary disable collisions and then restore them.
How is it possible?
Currently I use ROS Melodic and MoveIt with Python API.
Thank you!
Asked by bach on 2023-02-08 03:21:13 UTC
Comments
Quick comment: look into editing/updating/altering the ACM (== "allowed collision matrix").
Asked by gvdhoorn on 2023-02-11 04:10:32 UTC
Thank you! Unfortunately I rely on Python API that does not give access to the ACM apparently. I temporarily solved by disabling the collision from the SDRF and carefully checking that there is no danger in executing the motion.
Asked by bach on 2023-03-06 06:12:57 UTC