Is there a way to retrieve collision information between one or more actors in simulation?

[rthaker]

Hi @AndrePatri - Following collision related forum questions might be helpful to answer your question:

API to check robot collision

Hi, I am importing my own URDF (mobile manipulator). But when I enable the self-collision option, my robot will lose control. Because of that, I didn’t check that option, causing its arm can “go through” the robot’s body. I wonder if we have another API to check this kind of collision in Python besides the method from API to check collision (self-collision)? And if there is a collision, is it possible to check the source of the collision? For example, I have a mobile manipulator. It is not ok…

Collision detection for newly spawned object

Hi, I’m currently working on an extension in Isaac Sim which spawns a defined number of USDs within a bounding box. The part’s location and orientation are random. To make sure, that no part is spawned inside another one, I want to check for possible collisions after spawning to relocate the part if necessary. The parts are defined as rigid bodies and I enabled collisions. Unfortunatly the Physics Demo Scenes “Contact Report Callback” and “Contact Report Immediate API” got errors on my Isaac S…