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.
Rigid Body Trees
This example shows how to check for manipulator self-collisions when executing a trajectory.
Generate a collision-free trajectory in a constrained workspace.
This example shows three ways to obtain a
rigidBodyTree model with collision data.