Self Collision of robot arm

Questions
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1

I’m trying to implement self-collision detection for my robot arm using the cannon-es library. However, I’m struggling with defining the mesh for my robot arm since I’m using a URDF file. I’m new to Three.js, so I might be approaching this incorrectly. I would really appreciate any guidance you can provide!

2

It’s a huge topic tho.

https://manthrax.github.io/sbot/

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3

Hi @manthrax, Thank you for replying. I checked your model and its actually how I am looking to design. Can you please share the GitHub repo for the same for some reference. Thanks a lot.

4

Well… I wrote that from scratch.

It’s not using URDF or a physics library, so I don’t know how useful you would find it.

But you can DM me if you want to talk about the topic and develop your ideas.

5

Here’s a screenshot of the debug mode showing how I set up the spheres and boxes for collision detection:

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6

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