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Padding for self collision in MoveIt

ROS1
melodic

asked 2021-03-02 04:17:07 -0600

Eisenhorn

82 ●25 ●30 ●34

updated 2021-04-22 11:21:09 -0600

miura

1908 ●1 ●171 ●24 https://twitter.com/miura

Hello,

Is padding possible for self collision checking in MoveIt? I don't mean the planning scene, but for example checking any part of the arm group to an inflated version of the robots chassis.

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answered 2021-03-02 09:21:55 -0600

fvd
2180 ●15 ●98 ●56

I haven't tried it but this looks like the links have padding added to them just like the other collision objects, so I don't see why it wouldn't work.

Related: This answer and this Github issue.

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Asked: 2021-03-02 04:17:07 -0600

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Padding for self collision in MoveIt