Disabling self collisions completely

[Stefan Kohlbrecher]

I use a robot that does not exhibit self collision in simulation, and thus sometimes has joint configurations that would be collisions in real life. To avoid problems with planning I want to completely disable collision checking for the system. Seeing how "Show Non-Disabled Link Pairs" can be set in the setup assistant, I happily went over all ~2000 combinations, activating the checkboxes for all of them manually, thinking "when you can activate it. you'll also be able to save it to the config". Turns out my assumption was wrong ;)

So what' s the easiest option to just disable self-collision checking?

[Ioan Sucan]

I am a bit confused. Is the problem that the setup assistant did not save your configuration? (It should have, and your solution should actually work)

Otherwise, there is no simple way (I mean configuration parameter) to disable collision detection.

We should probably add the 'all' keyword for the SRDF disable_collisions tag, so that the SRDF is smaller; in any case, the solution you mentioned should work. Can you provide more details as to what failed when you did that?

Ioan

[jz...@swri.org]

I have seen the same issue.  In fact, the checkbox settings are not even maintained when you leave that "tab" and switch to another (e.g. Planning Groups).  I think the issue is that, in default_collisions_widget.cpp, the toggleCheckBox function is not wired into any objects on that form.  All the other callbacks (e.g. collisionCheckboxToggle) are wired into different form objects using the "connect()" call.

Unless I'm missing something, it's not clear this functionality has ever worked...

I'll log a bug on GitHub.

- Jeremy

[Stefan Kohlbrecher]

Yes, that is the problem that lead me to the search for another solution (but having to go through 2000 rows of checkboxes of course also isn't the most convenient when you want to deactivate them all). If I use the setup assistant to change some collision to "Disabled" in the "Self-Collisions" table, go to the "Virtual Joints" Tab and back again, my changes already have been reset in the table. This is with current MoveIt! from github.

[Ioan Sucan]

Thanks Jeremy,

It looks like that was not implemented. Ticket is good :)

Ioan