Hello,
I’ve been using the CHOMP algorithm for a while, but I’m encountering persistent self-collisions in some trajectories. Specifically, when simulating a UR5e robot, links 4 and 6 often collide during the trajectory. I verified these collisions using the checkCollision function.
I’ve tried adjusting these collision options, but the issue persists. For now I have not modified other solver/collision options.
chomp.CollisionOptions.IgnoreSelfCollision = false;
chomp.CollisionOptions.CollisionCostWeight = 10;
Any insights to avoid self collisions ? Because I think it should not be impossible for robot to not to follow that specific path where the link 6 touches the link 4 so I am kinda lost.Hello,
I’ve been using the CHOMP algorithm for a while, but I’m encountering persistent self-collisions in some trajectories. Specifically, when simulating a UR5e robot, links 4 and 6 often collide during the trajectory. I verified these collisions using the checkCollision function.
I’ve tried adjusting these collision options, but the issue persists. For now I have not modified other solver/collision options.
chomp.CollisionOptions.IgnoreSelfCollision = false;
chomp.CollisionOptions.CollisionCostWeight = 10;
Any insights to avoid self collisions ? Because I think it should not be impossible for robot to not to follow that specific path where the link 6 touches the link 4 so I am kinda lost. Hello,
I’ve been using the CHOMP algorithm for a while, but I’m encountering persistent self-collisions in some trajectories. Specifically, when simulating a UR5e robot, links 4 and 6 often collide during the trajectory. I verified these collisions using the checkCollision function.
I’ve tried adjusting these collision options, but the issue persists. For now I have not modified other solver/collision options.
chomp.CollisionOptions.IgnoreSelfCollision = false;
chomp.CollisionOptions.CollisionCostWeight = 10;
Any insights to avoid self collisions ? Because I think it should not be impossible for robot to not to follow that specific path where the link 6 touches the link 4 so I am kinda lost. matlab MATLAB Answers — New Questions

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