Comments (2)
In soar I tested with the following parameters.
By setting the head padding large, the arm will not pass near the head.
planning_context.launch
<!-- Load padding -->
<group ns="$(arg robot_description)_planning">
<rosparam command="load" file="$(find soar_moveit_config)/config/padding.yaml" />
</group>
move_group.launch
<!-- Start the actual move_group node/action server -->
<node name="move_group" launch-prefix="$(arg launch_prefix)" pkg="moveit_ros_move_group" type="move_group" respawn="false" output="screen" args="$(arg command_args)">
<!-- Set the display variable, in case OpenGL code is used internally -->
<env name="DISPLAY" value="$(optenv DISPLAY :0)"/>
<param name="allow_trajectory_execution" value="$(arg allow_trajectory_execution)"/>
<param name="sense_for_plan/max_safe_path_cost" value="$(arg max_safe_path_cost)"/>
<param name="default_planning_pipeline" value="$(arg pipeline)"/>
<param name="capabilities" value="$(arg capabilities)"/>
<param name="disable_capabilities" value="$(arg disable_capabilities)"/>
<!-- do not copy dynamics information from /joint_states to internal robot monitoring
default to false, because almost nothing in move_group relies on this information -->
<param name="monitor_dynamics" value="false"/>
<!-- Publish the planning scene of the physical robot so that rviz plugin can know actual robot -->
<param name="planning_scene_monitor/publish_planning_scene" value="$(arg publish_monitored_planning_scene)"/>
<param name="planning_scene_monitor/publish_geometry_updates" value="$(arg publish_monitored_planning_scene)"/>
<param name="planning_scene_monitor/publish_state_updates" value="$(arg publish_monitored_planning_scene)"/>
<param name="planning_scene_monitor/publish_transforms_updates" value="$(arg publish_monitored_planning_scene)"/>
<param name="max_safe_path_cost" value="1"/>
<param name="jiggle_fraction" value="0.05" />
<param name="start_state_max_dt" value="0.5" />
<param name="max_sampling_attempts" value="100" />
<param name="capabilities" value=""/>
<param name="use_padding_self_collisions" value="true"/>
<param name="disable_capabilities" value="move_group/ClearOctomapService"/>
</node>
padding.yaml
# parameters for padded robot (not used for self collision checks)
default_robot_padding: 0.004
default_robot_scale: 1.0
default_robot_link_padding: {"arm_link7" : 0.004, "right_finger_extension_link" : 0.004, "left_finger_extension_link" : 0.004, "hand_camera_link" : 0.01, "head_pan_link" : 0.05, "head_tilt_link" : 0.05}
from moveit.
The ability to set padding for each link originally existed, and the effect of this change was to reflect it in the self collision.
from moveit.
Related Issues (13)
- Display the mesh after padding HOT 4
- CPU usage of rviz increases when running for long periods HOT 5
- Imported target "Boost::system" includes non-existent path
- octomap_frame ignored when map_frame exist HOT 1
- planning scene object collide with octomap HOT 1
- self mesh filter ignores orientation
- dynamically change octomap detection range
- [ERROR] [/rviz]: a message of over a gigabyte was predicted in tcpros. that seems highly unlikely, so I'll assume protocol synchronization is lost. HOT 1
- filtered_cloud is incorrect HOT 3
- I want to make it an option whether to delete all scene objects from octomap or not HOT 1
- Enabling debug_info_ causes topics with different encodings to be published in duplicate each time
- Move group can't connect to rviz on gazebo HOT 3
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from moveit.