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.
1 个评论
xian ji
2022-2-11
[isColliding,sepDist] = checkCollision(robot,check,worldCollisionArray,"IgnoreSelfCollision","on","Exhaustive","on"); return 0
回答（1 个）
Githin John
2022-2-22
0 个投票
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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2022-2-22
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