curobo.collision_checking module

Robot-scene collision checking module.

This module provides robot-scene collision checking for custom pipelines. Most users should use InverseKinematics or TrajectoryOptimizer which handle collision checking internally.

Use this module when building custom collision-aware pipelines outside the main solvers.

Example

```python from curobo.collision_checking import RobotCollisionChecker, RobotCollisionCheckerCfg from curobo.scene import Scene import torch

# Create collision checker for custom pipeline config = RobotCollisionCheckerCfg.load_from_config(

robot_config=”franka.yml”, scene_model=”scene.yml”, collision_activation_distance=0.01,

) checker = RobotCollisionChecker(config)

# Query collision at joint configurations joint_positions = torch.rand((10, 7)) # 10 configurations scene_distance, self_distance = checker.get_scene_self_collision_distance_from_joints(

joint_positions

)

# Sample collision-free configurations valid_configs = checker.sample(num_samples=100, mask_valid=True)

# Validate configurations is_valid = checker.validate(joint_positions)

# Use in custom optimization (differentiable) joint_positions.requires_grad = True scene_dist, self_dist = checker.get_scene_self_collision_distance_from_joints(

joint_positions

) cost = scene_dist.sum() + self_dist.sum() cost.backward() # Gradients flow through ```

RobotCollisionChecker

alias of curobo._src.collision.collision_robot_scene.RobotSceneCollision

RobotCollisionCheckerCfg

alias of curobo._src.collision.collision_robot_scene_cfg.RobotSceneCollisionCfg