Hi RoboTomo,
Thanks for your question.
- There were some improvements made in performance for checkCollision in R2021b. Try and see if it meets your expectation.
- You can also try turning "off" self-collision checking if you are confident that the configurations you pass to the collision checking routine don't result in the robot colliding with itself. See ("IgnoreSelfCollision") here: https://www.mathworks.com/help/robotics/ref/rigidbodytree.checkcollision.html#namevaluepairarguments
- Alternatively you can try generating a MEX for an entry point function (See rbtCheckCollision) that accepts a configuration and returns whether the robot is in collision.
function isColliding=rbtCheckCollision(config)
% Use persistence if the robot and the environment are not changing.
persistent rbt env
if(isempty(rbt))
rbt=importrobot("universalUR5.urdf","DataFormat","row");
end
if(isempty(env))
c1=collisionBox(0.1,0.1,0.1);
c1.Pose=trvec2tform([0.2,0.2,0.4]);
c2=collisionSphere(0.3);
c2.Pose=trvec2tform([0.4,-0.2,0.4]);
env={c1,c2};
end
isColliding=rbt.checkCollision(config,env);
end
>> codegen rbtCheckCollision -args {zeros(1,6)}
I would be glad if you could also reach out to Technical Support and convey any performance requirements that you have for your use case, and we would be happy to enhance checkCollision in a future release of MATLAB.
Best,
Karsh
