[isColliding,sepDist] = checkCollision(robot,check,worldCollisionArray,"IgnoreSelfCollision","on","Exhaustive","on"); return 0
checkCollision for robot has bug?
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clear
robot = loadrobot("universalUR5","DataFormat","row");
env1 = collisionBox(0.13,0.18,0.8);
env1.Pose(1, end) = 0.2;
env1.Pose(2, end) = 0.25;
env1.Pose(3, end) = 0.5;
worldCollisionArray = {env1};
check=[4.2696 -1.7233 -1.8058 -6.3723 1.6891 0.1011];
show(robot,check);
hold on
show(env1)
[isColliding,sepDist] = checkCollision(robot,check,worldCollisionArray,"IgnoreSelfCollision","on","Exhaustive","on");
I test this code,checkCollision function can not check Collision of between the UR5 robot and collisionBox.
Réponses (1)
Githin John
le 22 Fév 2022
Hi,
The wrong result you are seeing for checkCollision is because of some missing collision mesh files in the UR robots. Please find further details in this bug report.
Best,
Githin
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