lgv
0257ac85ca
Add Pinocchio and Coal based self-collision checking with collision-pair filtering and displacement-based sampling. Integrate a periodic safety task with warning and stop thresholds, plus the simplified collision URDF and runtime configuration.
25 lines
486 B
Plaintext
25 lines
486 B
Plaintext
self_collision_task {
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id: "right_arm_self_collision"
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arm_id: "mujoco_right_arm"
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checker {
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urdf_path: "model/xiaoyan_description/dual_arm_collision.urdf"
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# Simplified compact-wrist bodies overlap in the normal assembled pose.
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ignored_pairs {
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first: "R_WRIST_P_S"
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second: "R_WRIST_R_S"
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}
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}
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sampling {
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max_geometry_displacement_m: 0.002
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max_check_period_s: 0.01
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}
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safety {
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warning_distance_m: 0.02
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stop_distance_m: 0.005
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}
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}
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