distance3d.self_collision.detect

distance3d.self_collision.detect(bvh)

Detect self collisions of a robot represented by a BVH.

Parameters:

bvhBoundingVolumeHierarchy

Bounding volume hierarchy that contains colliders of a robot. Note that the attribute bvh.self_collision_whitelists_ has to be filled. Otherwise a collection of a collider with itself or direct neighbors will be considered a self collision!

Returns:

contactsdict

Maps each collider frame to a boolean indicating whether it is in contact with another collider or not.