Using pybullet at the same time as robotics toolbox

[jcalderon12]

Hello,

I´m a researcher from the university of Extremadura, España. Last summer I did my final degree work, which consisted in the management of a manipulator arm, Kinova Gen 3, through a digital twin in pybullet. This manipulator had the task of detecting a container, integrate it into the digital twin and perform the necessary movements to reach the can, take it and bring it to the center of the table. Now I am trying to expand this work, adding another arm and using the trajectory calculation that avoids obstacles, as in NEO. The problem has arisen when I tried to remove swift and try to use the pybullet instance I already have to calculate the trajectories. As I have been able to see the problem arises because the collision calculation is done through pybullet and as there can only be one instance of pybullet per process, I was wondering if there is a way to specify to the toolbox to use the arm that I have loaded in pybullet to calculate the collisions.

Thanks for your attention