Add collission geometry to prismatic joint
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I need to add collision meshes to my robot which has one prismatic degree of freedom.
Is there any possibility to add a colission Mesh to the Body that "expands" with the prismatic joint. If I add one to the corresponding body it cannot cover the whole arm when it is extended.
Any Ideas or workarounds are welcome, thanks in advance!!
Karsh Tharyani on 2 May 2022
Edited: Karsh Tharyani on 2 May 2022
A rigid body, by definition, can't deform, hence it doesn't have a deformable collision geometry. A prismatic joint (specified via a "rigidBodyJoint") defines a constraint on the relative motion between two bodies, and doesn't actually hold a collision geometry.
You can add a collision geometry on a body, and self-collisions will be ignored between bodies on adjacent indices. Please refer to the following example which demonstrates planning for a rigid body tree with a prismatic and a revolute joint using "manipulatorRRT".
%% An example rigid body tree
%% Add an obstacle to the environment
%% Plan between two joint configurations
%% Visualize planned path
for i = 1:size(interpolatedPlan,1)
I hope the above answers your query.
If you have a specific use case where deformable collision geometries are required, please don't hesitate to reach Technical Support and share your use case.