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Collision Detection

Collision geometry meshes, collision avoidance and clearance

Collision geometries define the physical space occupied by robots and their environments. To represent robot parts or obstacles in the environment, create collision objects like boxes, cylinders, spheres, or custom meshes. Use checkCollision to determine if different parts of a manipulator arm collide with each other (self-collisions) or with things in the world while executing trajectories. The function also gives obstacle clearance to anticipate and avoid collisions.


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capsuleApproximationApproximate collision geometries of rigid body tree with capsules
checkCollisionCheck if robot is in collision
addCollisionAdd collision geometry to rigid body
clearCollisionClear all attached collision geometries
checkCollisionCheck if two geometries are in collision
collisionBoxCreate box collision geometry
collisionCapsuleCapsule primitive collision geometry
collisionCylinderCreate collision cylinder geometry
collisionMeshCreate convex mesh collision geometry
collisionSphereCreate sphere collision geometry