clearCollision

Clear all attached collision geometries

Since R2020b

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Syntax

clearCollision(body)

Description

clearCollision(body) clears all collision geometries attached to the specified rigid body object.

example

Examples

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Add Collision Meshes and Check Collisions for Manipulator Robot Arm

Open Live Script

Load a robot model and modify the collision meshes. Clear existing collision meshes, add simple collision object primitives, and check whether certain configurations are in collision.

Load Robot Model

Load a preconfigured robot model into the workspace using the loadrobot function. This model already has collision meshes specified for each body. Iterate through all the rigid body elements and clear the existing collision meshes. Confirm that the existing meshes are gone.

robot = loadrobot("kukaIiwa7",DataFormat="column");

for i = 1:robot.NumBodies
    clearCollision(robot.Bodies{i})
end

show(robot,Collisions="on",Visuals="off");

Add Collision Cylinders

Iteratively add a collision cylinder to each body. Skip some bodies for this specific model, as they overlap and always collide with the end effector (body 10).

collisionObj = collisionCylinder(0.05,0.25);

for i = 1:robot.NumBodies
    if i > 6 && i < 10
        % Skip these bodies.
    else
        addCollision(robot.Bodies{i},collisionObj)
    end
end

show(robot,Collisions="on",Visuals="off");

Check for Collisions

Generate a series of random configurations. Check whether the robot is in collision at each configuration. Visualize each configuration that has a collision.

figure
rng(0) % Set random seed for repeatability.
for i = 1:20
    config = randomConfiguration(robot);
    isColliding = checkCollision(robot,config,SkippedSelfCollisions="parent");
    if isColliding
        show(robot,config,Collisions="on",Visuals="off");
        title("Collision Detected")
    else
        % Skip non-collisions.
    end
end