How to calculate the collisions_magin.yaml file？

[Wwwwjunjie]

I want to use this framework to control my robot. How can I replace or obtain the collisions_magin.yaml file?

[jbmouret]

Do you need self-collisions or not? If you do not, it's easier to not use self-collisions tasks. If you need them, you need to do it by hand. You can take examples from Talos or Tiago (check the devel branch, which is probably the most up-to-date) and visualize them using the examples (there is an option).

[Wwwwjunjie]

thanks a lot