Chomp trajectories are in self collision
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Denizhan AKINCI
le 27 Mai 2024
Commenté : Karsh Tharyani
le 7 Juin 2024
Hello,
I've been using the CHOMP algorithm for a while, but I'm encountering persistent self-collisions in some trajectories. Specifically, when simulating a UR5e robot, links 4 and 6 often collide during the trajectory. I verified these collisions using the checkCollision function.
I've tried adjusting these collision options, but the issue persists. For now I have not modified other solver/collision options.
chomp.CollisionOptions.IgnoreSelfCollision = false;
chomp.CollisionOptions.CollisionCostWeight = 10;
Any insights to avoid self collisions ? Because I think it should not be impossible for robot to not to follow that specific path where the link 6 touches the link 4 so I am kinda lost.
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Karsh Tharyani
le 30 Mai 2024
manipulatorCHOMP is not a globally optimal planner. It is subject to a local minima, and maybe that is the case here i.e., it is not able to find a self-collision free path. Have you tried posing your problem to manipulatorRRT? Is manipulatorRRT able to find a self-collision free plan to the problem? If so, you can call manipulatorRRT and then feed that plan as an intial guess to manipulatorCHOMP/optimize.
For the Universal UR 5e, I have seen that setting the joint position limits to [-pi,pi] instead of the default [-2*pi,2*pi] helps in avoiding "passing through itself" trajectories for an initial guess.
I hope this helps.
If you still run into issues, I strongly suggest you share a simple reproducible of your problem with MathWorks Technical Support https://www.mathworks.com/support/contact_us.html to resolve this in a timely manner.
Best,
Karsh
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Karsh Tharyani
le 7 Juin 2024
manipulatorCHOMP/optimize can be used to modify an entire trajectory. It accepts a stack (row wise) of configurations and corresponding time points.
Yes, manipulatorCHOMP will make this trajectory smoother while minimizing collisions.
I hope this helps,
Karsh
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