Check Collision isColliding problem

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Denizhan AKINCI
Denizhan AKINCI 2024-4-11
Hello,
Recently, I integrated the UR5e robotic arm onto a mobile platform, resulting in a unified robot system. While modifying the URDF to reflect this change, I omitted certain components on the mobile platform, such as camera holders, from being defined as collision boxes since they were already included in the URDF as collision and visual meshes.
However, I've encountered an issue with the `checkCollisions` function. Despite providing both parent and adjacent parameters, it only returns `isColliding = 1` even when there are no NaN values in the `sepDist` matrix or no visible self collision on the figure. This inconsistency prompts my first question: why doesn't it return `isColliding = 0` when there's no self-collision?
In specific configurations, the robotic arm comes into contact with one of the camera holders integrated into the mobile platform. How can I proactively prevent such collisions? Currently, I'm solely employing gik with BFGSGradientProjection to identify initial configurations for the robot, without incorporating trajectory generation. Any suggestions on collision avoidance strategies would be greatly appreciated.
I appreciate any insights or suggestions you may have on resolving these challenges.

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