Modified collision model (for OMPL to work) #144
Merged
Conversation
This file contains bidirectional Unicode text that may be interpreted or compiled differently than what appears below. To review, open the file in an editor that reveals hidden Unicode characters.
Learn more about bidirectional Unicode characters
Collision model changed to avoid bad OMPL planning (spaces between links) Collision model now with multiple collision objects (now handled in hydro) such as cylinders and spheres to create capsules Enabled self_collision to not permit crossed fingers in gazebo
ugocupcic
added a commit
that referenced
this pull request
Jul 15, 2014
Modified collision model (for OMPL to work)
|
Thanks! |
Sign up for free
to join this conversation on GitHub.
Already have an account?
Sign in to comment
Add this suggestion to a batch that can be applied as a single commit.
This suggestion is invalid because no changes were made to the code.
Suggestions cannot be applied while the pull request is closed.
Suggestions cannot be applied while viewing a subset of changes.
Only one suggestion per line can be applied in a batch.
Add this suggestion to a batch that can be applied as a single commit.
Applying suggestions on deleted lines is not supported.
You must change the existing code in this line in order to create a valid suggestion.
Outdated suggestions cannot be applied.
This suggestion has been applied or marked resolved.
Suggestions cannot be applied from pending reviews.
Suggestions cannot be applied on multi-line comments.
Suggestions cannot be applied while the pull request is queued to merge.
Suggestion cannot be applied right now. Please check back later.
Collision model changed to avoid bad OMPL planning (spaces between links permit fingers to pass through each other)
Collision dae files with Y_UP to get OMPL compute collision correctly ( moveit/moveit_ros#316 ) => Does not affect rviz nor gazebo display and gazebo contacts still work perfectly.
Primitive collision model now with multiple collision objects (now handled in hydro) such as cylinders and spheres to create capsules. Checked for no self collision between links close together through hub links (proximal/palm, thmiddle/thproximal). Adjacent links are disabled in gazebo by default anyway.
Enabled self_collision not to permit crossed fingers in gazebo