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.
This example shows how to check for manipulator self collisions using the collision meshes in the URDF source folder.
Generate a collision-free trajectory in a constrained workspace.
This example shows the three different ways to create collision objects for manipulator collision checking.