npm

coal

Flexible Collision Library extension for rigid body dynamics

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Source

About

Extension of the Flexible Collision Library

Commands

coal

Examples

Check collision between two objects$ coal collision --object1 mesh1.obj --object2 mesh2.obj
Compute distance between geometric shapes$ coal distance --shape1 sphere.urdf --shape2 box.urdf
Perform collision detection with transform$ coal collision --object1 robot.urdf --object2 obstacle.obj --transform 0.5,0,0