Can't understand the input parameters of RRT 3D algorithm

Hi All

I have to use RRT algorithm in Matlab, to remotely evaluate the collision avoidance for a model constructed in CoppeliaSim. I am new to trajectory planning and collision avoidance. so I need to first know what are the input parameters in this code :

https://de.mathworks.com/matlabcentral/fileexchange/60993-2d-3d-rrt-algorithm

in the code 3D-RRT.m

x_max = 640;
y_max = 480;
z_max = 400;
EPS = 20;
numNodes = 2000;        
q_start.coord = [0 0 0];
q_start.cost = 0;
q_start.parent = 0;
q_goal.coord = [640 400 180];
q_goal.cost = 0;

Then I need to know, what data should I import from Coppelia Sim , for collision avoidance between a robotic arm and a moving human. my question is what kind of sensors should I put : vision ? accelerometer? distance? all of them? in order to avoid the moving human and move efficiently away and carry out the task of pick and place