Hi all,
I am using a manipulator with a suction gripper to pick up objects from the clutter. Planning scene and picking items are visible to the depth camera. I am using MoveIt! with occupancy_map_monitor plugin to generate Octomaps and plan / verify trajectory against potential collisions.
The problem occurs during the picking when I actually want to enter a collision between the suction cup and picked item. I do not want to disable collision check or clear Octomap completely for grasping, as some other collisions might occur.
My current solution involves additional prismatic joint in URDF, controlled via "/joint_states" topic. This joint can "extend" or "compress" suction cup collisions... But this solution seems to be an overkill, and might not scale for another purpose.
I tried to find a simpler solution, such as temporary disabling collisions between specified URDF link and Octomap, but I could not find any. Maybe someone knows a better way?
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