Panda is_collision also considers collision in joint limits about ros-gazebo-gym

[panweihit]

Contact sensor? Can we assume there is no collision, just in some confined space?

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On 11 Feb 2022, at 10:48, Rick Staa ***@***.***> wrote: The current is_collision property uses the /franka_state_controller/franka_states/cartesian_collision topic for judging if the robot is in collision with the world. However, this topic also considers the external torques exerted by the base when the controller is pushing the joints within their joint limits. If we only want to penalize the robot for colliding with the world or itself, we should implement a contact sensor (see http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors <http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors>). — Reply to this email directly, view it on GitHub <#3>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/ACG26TL6UQV75V25EDDJIULU2TLOBANCNFSM5ODWMRYQ>. You are receiving this because you are subscribed to this thread.

[rickstaa]

Contact sensor? Can we assume there is no collision, just in some confined space?
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On 11 Feb 2022, at 10:48, Rick Staa @.***> wrote: The current is_collision property uses the /franka_state_controller/franka_states/cartesian_collision topic for judging if the robot is in collision with the world. However, this topic also considers the external torques exerted by the base when the controller is pushing the joints within their joint limits. If we only want to penalize the robot for colliding with the world or itself, we should implement a contact sensor (see http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors http://gazebosim.org/tutorials?tut=contact_sensor&cat=sensors). — Reply to this email directly, view it on GitHub <#3>, or unsubscribe https://github.com/notifications/unsubscribe-auth/ACG26TL6UQV75V25EDDJIULU2TLOBANCNFSM5ODWMRYQ. You are receiving this because you are subscribed to this thread.

A contact sensor is not needed for now given we use the reaching task. I noticed that the penalty is triggered too frequently which might confuse the algorithm. For now, I was planning to disable the collision penalty. I created this issue to make people aware of how the collision penalty is currently judging collisions.

[rickstaa]

A contact sensor might be needed in the future if people want to train on the more difficult Push/Slide and pick/place tasks. I will add a short note in de the code about the current behaviour and point to this issue.