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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. Create primitives for boxes, cylinders, and spheres, or specify your own mesh vertices to create collision meshes to represent robot parts or obstacles in an environment. 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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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
collisionCylinderCreate collision cylinder geometry
collisionMeshCreate convex mesh collision geometry
collisionSphereCreate sphere collision geometry


Check for Manipulator Self Collisions Using Collision Meshes

This example shows how to check for manipulator self-collisions when executing a trajectory.

Check for Environmental Collisions with Manipulators

Generate a collision-free trajectory in a constrained workspace.

Obtain Collision Data for Manipulator Collision Checking

This example shows three ways to obtain a rigidBodyTree model with collision data.