checkCollision for robot has bug？

2 次查看（过去 30 天）
xian ji
xian ji 2022-2-11
回答： Githin John 2022-2-22
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
xian ji 2022-2-11
[isColliding,sepDist] = checkCollision(robot,check,worldCollisionArray,"IgnoreSelfCollision","on","Exhaustive","on"); return 0

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回答（1 个）

Githin John
Githin John 2022-2-22
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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