Change object color upon collision


#1

Hi,

If I have an NRP experiment with an ICUB and a sphere in the scene, and the ICUB’s arms are moving randomly. Is it possible to change the sphere’s color if a collision between the arm and the sphere happens?

Thanks,
Mahmoud


#2

Hi Mahmoud,

The following change of Michael has been reviewed: https://bbpcode.epfl.ch/code/#/c/38429/

It will allow you the access contact points data as a topic and hence detect collisions. I invite you to test this new feature.
One natural follow-up would be to implement states in our SMACH framework that monitor collisions between specific pairs of objects.

Best regards,
Luc