Collision avoidance support for CartesIO. A the moment, the support for collision avoidance is provided by means of
- a collision avoidance task, named
CollisionTask - a collision avoidance constraint, named
CollisionConstraint
Support for the first (task-based) version is experimental.
Collision:
type: CollisionConstraint # or CollisionTask
lib_name: libcartesio_collision_support.so
bound_scaling: 0.1 # to reduce speed before collision (< 1), only for constraint version
lambda: 0.1 # only for task version
max_pairs: 10 # maximum number of simultaneously active collisions
distance_threshold: 0.01 # minimum distance between link pairs
pairs: # list of all link pairs to be checked (all if omitted)
- [ball1, ball2]