How to check collision between several robots?

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Eva
Eva on 13 Jan 2021
Commented: Karsh Tharyani on 14 Jun 2021
I have created four robots (rigidBodyTrees) with the Robotics Toolbox.
In reality, this is one robot with four arms.
I chose to create four different robots, because I want to ignore self collision (the self being the same arm).
I want to generate configurations for each arm (each robot) and then check whether there is collision between them.
How do I do this? The documentation says:
This suggests that I can only enter the configuration for one robot and the worldObjects cannot be placed depending on the configuration that is generated but are 'fixed'.
I really hope someone can help me!
  4 Comments
Karsh Tharyani
Karsh Tharyani on 14 Jun 2021
Hi Eva,
Please reach out to Technical Support with your question. You can provide them with the supporting files that reproduce the issue.
Best,
Karsh

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