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