checkCollision for robot has bug？

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.

[xian ji]

[isColliding,sepDist] = checkCollision(robot,check,worldCollisionArray,"IgnoreSelfCollision","on","Exhaustive","on"); return 0

Answer 1

[Githin John]

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