56 lines
1.8 KiB
Markdown
56 lines
1.8 KiB
Markdown
# SRDF disabled collisions
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Disabled collisions are planning-safety data. Treat them as derived evidence, not as decorative XML.
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## Valid sources
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Use one of these sources:
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- adjacent-link policy from the URDF kinematic graph;
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- MoveIt Setup Assistant self-collision matrix generation;
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- sampled collision analysis from a known MoveIt configuration;
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- explicit user-provided collision matrix;
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- a manually reviewed pair with a specific rationale.
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Do not infer disabled collision pairs from visual appearance or vague prose.
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## XML shape
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```xml
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<disable_collisions link1="base_link" link2="shoulder_link" reason="Adjacent"/>
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```
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The current runtime requires:
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- `link1` and `link2`;
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- both links to exist in the URDF;
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- distinct link names;
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- a non-empty `reason`;
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- no duplicate or reversed duplicate pairs.
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## Reason and provenance
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Use truthful reasons. Examples:
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| Reason | Typical source |
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|---|---|
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| `Adjacent` | URDF graph adjacency |
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| `Never` | Setup Assistant sampled matrix |
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| `Always` | Setup Assistant sampled matrix |
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| `Default` | Setup Assistant sampled matrix |
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| `Manual: tool fixture is outside workspace envelope` | Explicit human review |
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The current parser classifies reasons into broad provenance buckets such as adjacent, sampled, setup assistant, manual, or assumed. Avoid `assumed` unless the user explicitly requested a provisional SRDF and the risk is reported.
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## Review checklist
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Before committing a disabled collision pair:
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- Is the pair adjacent or sampled-safe?
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- Does disabling the pair hide a possible real collision during the planned task?
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- Was the pair generated with sufficient sampling density?
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- Is the pair still valid after geometry, limits, or group membership changed?
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- Was manual rationale written down?
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If many manual pairs are present, prefer regenerating the self-collision matrix with MoveIt Setup Assistant.
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