Hi Lukas,
You can't specify a safety clearance in the planner. However, if your environment comprises of meshes (even if it isn't you can convert them to a collision mesh using convertToCollisionMesh), you can simply scale up the meshes in the environment and that should create a safety clearance for you.
Here's how you scale a mesh:
groundvehiclemesh=collisionMesh(stlread('groundvehicle.stl').Points);
% Show the original collision mesh
subplot(1,2,1)
show(groundvehiclemesh);
xlim([-150,150])
ylim([-150,150])
zlim([-60,60])
title("Original Mesh");
% Scale the mesh by a scaling factor
scalingfactor=2.5;
groundvehiclemesh.Vertices=scalingfactor*(groundvehiclemesh.Vertices);
% Show the scaled collision mesh
subplot(1,2,2);
show(groundvehiclemesh);
xlim([-150,150])
ylim([-150,150])
zlim([-60,60])
title("Scaled Mesh " + string(scalingfactor) + "X")
Then you can simply pass the scaled mesh to the planner "manipulatorRRT" during its creation.
Hope that helps,
Karsh
