Mico Arm Collision Free Motion Planning

[ljklonepiece]

Dear Developers,

I am trying to perform collision free motion planning on Mico arm, but couldn't get it to work.
I attach the scene file here: https://drive.google.com/file/d/0B3-BbM ... sp=sharing

The goal is for the arm to reach micoTarget1 while avoiding collision with other collidable objects.
However, it seems the arm will ignore collision checking and will collide with the green cup as well as the cupboard.

Could you provide some suggestions on how i can work around this issue?
I really appreciate your kind help!

Juekun

[coppelia]

Hello Juekun,

your scene is ignoring collisions because you are calling the function findBestPath with a false argument for checkCollision.

Then, it seems that your robot is creating a lot of self-collisions (as you can see from the red color and white collision segments). Have also a look at this topic, that is quite similar.

Cheers

[ljklonepiece]

I see, but when i set checkcollision to be true, it will not be able to find one, which confuses me.

Thank for referring me to that post, i will definitely check it out!