Support for Modifying Robot Collision Geometry

[mohitydv09]

For my application, I want to move a UR5e arm in a cluttered environment. However, in my setup, the robot arm has a camera attached at the wrist which protrudes out. I don't think the robot collision geometry is modifiable as of now. Do you have any thoughts on how I can make these minor modifications in the robot geometry and thus get a trajectory considering the additional objects?

This would also be useful in applications where the robot has grasped an object and then needs to move with the object.

P.S.: I think #7 can help with this.

[zkingston]

We just merged #18 which enables adding custom geometry at the end-effector. Could you take a look and see if this fits your use-case?

[mohitydv09]

@zkingston Yes, #18 is exactly what I needed. Thanks a lot.

Suggestion : Support to change the size of collision spheres of the robot manually might be helpful, for example in cases where we want a path with higher factor of safety.

[wbthomason]

@mohitydv09 Thanks for the feature suggestion; we'll see if we can accommodate it in the future.