Hi, I am importing my own URDF (mobile manipulator). But when I enable the self-collision option, my robot will lose control. Because of that, I didn’t check that option, causing its arm can “go through” the robot’s body.
I wonder if we have another API to check this kind of collision in Python besides the method from API to check collision (self-collision)?
And if there is a collision, is it possible to check the source of the collision?
For example, I have a mobile manipulator. It is not okay if its gripper collides with its body, but it is okay if the gripper collides with particular objects. So, I wish I could know the source of the collision.