I have created four robots (rigidBodyTrees) with the Robotics Toolbox.
In reality, this is one robot with four arms.
I chose to create four different robots, because I want to ignore self collision (the self being the same arm).
I want to generate configurations for each arm (each robot) and then check whether there is collision between them.
How do I do this? The documentation says:
This suggests that I can only enter the configuration for one robot and the worldObjects cannot be placed depending on the configuration that is generated but are 'fixed'.
I really hope someone can help me!