Determining Collision of Baxter's Arm in Gazebo

asked 2015-12-23 00:40:02 -0500

edessale gravatar image

Hello all,

I am implementing a BiRRT where I am working on Baxter, along with its 7 DOF arms. I would like to, given a joint angle configuration of [s0, s1, e0, e1, ...], determine if this configuration will create a collision with the environment. I already have the STL meshes of the environment so I plan on creating a CollisionObject out of those using the FCL (Flexible Collision Library), but I have no clue where to start on making a CollisionObject out of Baxter's arm. I've been losing a lot of time to this. Could somebody give me some pointers on where to start? Thank you all.

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I'm working on something similar - have you been able to make any progress on this? I saw you are already calculating self-collision. Did you use moveit/FCL to do this? I'm looking for pointers on how to use these in Python or some other method for determining self collision.

rikkimelissa gravatar image rikkimelissa  ( 2016-02-11 16:59:25 -0500 )edit

Hi, Yeah I was able to finish this. MoveIt! is a fine option, but I personally didn't want to go there so I decided to use openrave. As long as you have a collada file (which is easily generatable from a URDF), just upload the environment and there are robot.CheckCollision(...) methods

edessale gravatar image edessale  ( 2016-02-11 18:22:25 -0500 )edit

that you can use. And I also did this all in python, Openrave is a great high level simulator. Feel free to ask any more questions, this was a point of frustration for me for a while.

edessale gravatar image edessale  ( 2016-02-11 18:23:00 -0500 )edit

This is really helpful! Thank you!

rikkimelissa gravatar image rikkimelissa  ( 2016-02-11 20:27:39 -0500 )edit