Get Collision Geometries and Transforms

SUMMARY

Get Collision Geometries and Transforms returns the robot's collision geometries and their world-frame transforms for a given joint configuration.

UNITS

joint_positions are in degrees.

The Skill

geometries, transforms = robot.get_collision_geometries_and_transforms(joint_positions)

The Code

"""
Place the robot's collision geometries in the world frame for a joint configuration.

Supports Universal Robots (UR), Epson, and virtual.

Usage:
    python get_collision_geometries_and_transforms.py
"""

from loguru import logger

from telekinesis.synapse.robots.manipulators import universal_robots


def main():
    """Log each collision geometry of the robot and its world-frame transform."""

    #===================== Create Robot ==========================================
    robot = universal_robots.UniversalRobotsUR10E(name='UR10e')

    # ==================== Run Skill ============================================
    q = [0, -90, 90, 0, 90, 0]
    geometries, transforms = robot.get_collision_geometries_and_transforms(joint_positions=q)
    logger.info(f"Collision geometries: {len(geometries)}")

    for geometry, transform in zip(geometries, transforms):
        logger.info(f"{geometry}:\n{transform}")

    robot.shutdown()


if __name__ == "__main__":
    main()

Running the Example

python get_collision_geometries_and_transforms.py

For all options:

python get_collision_geometries_and_transforms.py --help

Parameter Configuration

Parameter	Type	Default	Description
joint_positions	list[float] | np.ndarray	required	Joint configuration to place the collision geometries at, in degrees.

Returns

Type	Description
tuple[list, list[np.ndarray]]	Collision geometries, and a matching list of 4x4 world-frame transforms. Attached collision objects belong to the planning scene and are not included.

How to Tune the Parameters

Pass the configuration you want to inspect, for example robot.get_joint_positions() for the current pose or a planned waypoint. Attached tools and scene objects are not part of this result.

Where to Use the Skill

• Collision checking - Feed robot geometry into your own collision checks.
• Visualization - Draw the collision shapes at a planned waypoint.

When Not to Use the Skill

• You need visual meshes - use Get Visual Meshes Data.
• You need link frames - use Get Link Transforms.