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wiki:tutorials:python-interface-collision-entries [2019/02/21 18:06]
wiki:tutorials:python-interface-collision-entries [2019/04/07 14:11] (current)
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-Collision entries ​let you allow and disallow collisions between specific links of the robot. Collision entries ​are ROS messages defined in the giskard_msgs package with the following fields:+Collision entries ​are ROS messages that specifiy which collisions are allowed ​and which are forbidden. Thus, it is possible to allow or disallow collisions between specific links of the robot and in order to do that you can use the //​set_collision_entries//​ function of the GiskardWrapperThis function expects a list of Collision entries ​and adds them to Giskard. Below is the message definition for Collisions entries
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