Collision avoidance

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Hi,

To avoid the robot from unexpectedly moving to unwanted positions, I created collision objects around the robot for safety measures. If a trajectory is created and it involves one of its way points to collide into the objects, the robot will not complete the trajectory and stop to the way point just before colliding.

The video below showcases the robot's parts going red when colliding into the green objects. When setting a pose target, the robot will stop before colliding in both simulation and in the real-world.


Video showing collision objects

Immanuel

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