From 8cb97670e1ac19ba1eea467234e7f97d8f2d4ca6 Mon Sep 17 00:00:00 2001 From: suchetanrs Date: Tue, 25 Mar 2025 12:56:21 +0530 Subject: [PATCH] * add collision detection parameter to graceful controller config" Signed-off-by: suchetanrs --- .../configuring-graceful-motion-controller.rst | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/configuration/packages/configuring-graceful-motion-controller.rst b/configuration/packages/configuring-graceful-motion-controller.rst index 01bdc6519d..52844034a2 100644 --- a/configuration/packages/configuring-graceful-motion-controller.rst +++ b/configuration/packages/configuring-graceful-motion-controller.rst @@ -223,6 +223,17 @@ Graceful Controller Parameters Description When performing an in-place rotation after the XY goal tolerance has been met, this is the angle (in radians) between poses to check for collision. +:use_collision_detection: + + ============== ============================= + Type Default + -------------- ----------------------------- + bool true + ============== ============================= + + Description + Whether to use collision detection to avoid obstacles. + Example ******* .. code-block:: yaml