https://github.com/advrhumanoids/cartesio_collision_support

Collision avoidance support for CartesIO
https://github.com/advrhumanoids/cartesio_collision_support

Last synced: 4 months ago
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Collision avoidance support for CartesIO

• Host: GitHub
• URL: https://github.com/advrhumanoids/cartesio_collision_support
• Owner: ADVRHumanoids
• Created: 2021-03-12T10:11:24.000Z (over 5 years ago)
• Default Branch: master
• Last Pushed: 2025-04-09T08:09:57.000Z (about 1 year ago)
• Last Synced: 2025-09-09T00:26:48.139Z (9 months ago)
• Language: C++
• Size: 63.5 KB
• Stars: 1
• Watchers: 8
• Forks: 1
• Open Issues: 2
• Metadata Files:
  • Readme: README.md

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README

          
# cartesio_collision_support

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.

## How to include inside a stack file

```yaml

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]

```