Actual collision spheres and capsules from Fanuc?

[thibaut-d]

Dear,

In the Fanuc UI, robot collisions are defined by spheres and capsules that are significantly bigger than the collisions shapes provided with the URDF.

As a consequence, the collisions shapes of the URDF and the ones actually limiting the moves of the robot are different. It seems to lead to discrepancies in achievable moves.

Are you aware about ways to tackle this or actual definition files from Fanuc that can be used to update the URDF?

Thanks

[gavanderhoorn]

In the Fanuc UI, robot collisions are defined by spheres and capsules that are significantly bigger than the collisions shapes provided with the URDF.

I believe this is very specific to (newer) controllers with the required DCS options.

Are you aware about ways to tackle this or actual definition files from Fanuc

No, I've not looked into this.

It's probably stored somewhere on the controller, so the first thing would be to find it.

I'd be willing to take a look, but I'd need a backup of a controller configured with the feature you refer to.

that can be used to update the URDF?

URDF does not support capsules, so even with that information we could not really easily implement your proposed alternative.

We'd have to either generate collision meshes, or construct multi-shape collision geometry elements.

[gavanderhoorn]

Ping?