Attached obstacles and collision avoidance with Lula RMPflow

Omniverse Isaac Sim
1

Hi all,

I would like to ask a conceptual question about the Lula RMPflow framework:
How does the framework handle collision objects that are attached to the robotic arm’s gripper?
When the robotic arm grasps an obstacle (e.g. a cuboid), does the subsequently planned trajectory avoid collisions of the grasped obstacle with the remaining obstacles?

I was wondering if the concept of ‘attached collision objects’ in ROS - MoveIt is also available or implicitly respected by RMPflow

3

The current implementation does not support dynamically attaching collision objects to the robot arm.

Unfortunately, the only way to get that behavior right now would be to make a separate Robot Description YAML file with collision spheres for the attached object and to create a new RMPflow instance with the attached object as part of the robot. This is admittedly cumbersome