Can I just disable the self collision?
According to this, the reachable space should contain pretty much everywhere close to the robot though.
Sometimes self-collision is enforced through joint limits. I am not sure if it’s the case for Franka.
@nikepupu9
To disable RmpFlow’s self-collision avoidance behavior altogether, you will need to edit the rmpflow_config.yaml file as I described in my last reply. Just make the radii of the body_cylinders and body_collision_controllers very small numbers.
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