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Check collisions
Checks for possible collisions. Will test if any object from group A collide with any objects from group B.
Inputs
| Name | ID | Description | Type |
|---|---|---|---|
| Program | P | Program | Program |
| First set | A | First set of objects. Input a list of index values that correspond to the first collision group. The order is the same as the meshes output of the kinematics component. The environment would be an additional last mesh. | Integer |
| Second set | B | Second set of objects. Input a list of index values that correspond to the second collision group. The order is the same as the meshes output of the kinematics component. The environment would be an additional last mesh. | Integer |
| Environment | E | Single mesh object representing the environment | Mesh |
| Environment plane | P | If attached to the robot, plane index where the environment is attached to | Integer |
| Linear step size | Ls | Linear step size in mm to check for collisions | Number |
| Angular step size | As | Angular step size in rad to check for collisions | Number |
Outputs
| Name | ID | Description | Type |
|---|---|---|---|
| Collision found | C | True if a collision was found | Boolean |
| Target index | I | Index of the first target where a collision was found (targets are not necessarily calculated in order) | Integer |
| Collided meshes | M | Meshes involved in the collision | Mesh |
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