how to set special_collision_constraint ?

[vegfood]

    auto cnt_safety_margin = std::make_shared<util::SafetyMarginData>(-0.1, 20);
    cnt_safety_margin->setPairSafetyMarginData("forearm_link", "wrist_2_link", -0.1, 20);
    composite_profile->special_collision_constraint = cnt_safety_margin;

Q: I wnat to set negative safety margin for the above two links like this but it doesn't work

[Levi-Armstrong]

That should work, but you may be running into an edge case because I have never tested a negative contact margin that large. Though I want to check because this will allow those two links to intersect by 10cm; is that what you want?

[Levi-Armstrong]

That planner I am not sure if it that has been verified that it is fully functioning feature.

[vegfood]

I tried the TrajOpt, it works. But i wanna know if this the collision body used for planning, it seems it's much bigger than the original link, perhaps this is why there is always collision reports. Is it possible to reduce the collision body

?

[Levi-Armstrong]

If you are using one of the Tesseract visualization widgets and you enable the visualize the collision it will show the exact collision object used for collision checking. Also the latest Tesseract Workbench plugin allows you to query collision and will show you where the collision points are in rviz.

[vegfood]

thanks for your help, i find it

[Levi-Armstrong]

I looked at TrajOptIfopt and the special safety margins have not been ported, but if you needed to use TrajOptIfopt it should be easy for you to port. If you end up going this route please create a PR and I will happily review and get it merged in.