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.
Check for Manipulator Self Collisions using Collision Meshes
This example shows how to check for manipulator self collisions using the collision meshes in the URDF source folder.
Check for Environmental Collisions with Manipulators
Generate a collision-free trajectory in a constrained workspace.
Create Collision Objects for Manipulator Collision Checking
This example shows the three different ways to create collision objects for manipulator collision checking.