Detect a collision between 2 robotPlatform

Hello,
I imported 2 URDF files using the importrobot function. Then, I created a robotScenario by adding a robotPlatform for each robot. I want to check during the scenario that there are no collisions between the robots.
I tried using the checkCollision function between the 2 robotPlatforms, but this function does not accept non-rigidBodyTree-based platforms.
Then, I tried to create a robotPlatform ‘hand’ from an STL file and attach ‘hand’ to the ‘robot2Scn’ platform using the attach function, but the position of ‘hand’ does not update when I use the checkCollision(robotScn, ‘hand’, IgnoreSelfCollision="on") function. This function returns 1 when ‘robotScn’ is at the initial position of ‘hand’, otherwise it returns 0.
Is there a function or have you a suggestion to check for collisions between 2 robotPlatforms in a robotScenario?
Thank you.
robot = importrobot("robot.urdf");
robot2 = importrobot("robot_2.urdf");

scenario = robotScenario(UpdateRate=1,StopTime=10);
robotScn = robotPlatform("robot1",scenario,RigidBodyTree=robot);
robotScn2 = robotPlatform("robot2",scenario,RigidBodyTree=robot2);

% Trying to manually add a collision zone (Test with and without using clearCollision on robot2)
stlData = stlread(‘hand_link.stl’);
vertices = stlData.Points;
faces = stlData.ConnectivityList;
handMesh = collisionMesh(vertices);
base = robotPlatform("hand",scenario,Collision=handMesh, initialBasePosition[0.2 0.2 0.2]);
attach(robotScn2,"hand","hand_link",ChildToParentTransform=trvec2tform([0 0 0]))
checkCollision(robotScn,"hand", IgnoreSelfCollision="on")Hello,
I imported 2 URDF files using the importrobot function. Then, I created a robotScenario by adding a robotPlatform for each robot. I want to check during the scenario that there are no collisions between the robots.
I tried using the checkCollision function between the 2 robotPlatforms, but this function does not accept non-rigidBodyTree-based platforms.
Then, I tried to create a robotPlatform ‘hand’ from an STL file and attach ‘hand’ to the ‘robot2Scn’ platform using the attach function, but the position of ‘hand’ does not update when I use the checkCollision(robotScn, ‘hand’, IgnoreSelfCollision="on") function. This function returns 1 when ‘robotScn’ is at the initial position of ‘hand’, otherwise it returns 0.
Is there a function or have you a suggestion to check for collisions between 2 robotPlatforms in a robotScenario?
Thank you.
robot = importrobot("robot.urdf");
robot2 = importrobot("robot_2.urdf");

scenario = robotScenario(UpdateRate=1,StopTime=10);
robotScn = robotPlatform("robot1",scenario,RigidBodyTree=robot);
robotScn2 = robotPlatform("robot2",scenario,RigidBodyTree=robot2);

% Trying to manually add a collision zone (Test with and without using clearCollision on robot2)
stlData = stlread(‘hand_link.stl’);
vertices = stlData.Points;
faces = stlData.ConnectivityList;
handMesh = collisionMesh(vertices);
base = robotPlatform("hand",scenario,Collision=handMesh, initialBasePosition[0.2 0.2 0.2]);
attach(robotScn2,"hand","hand_link",ChildToParentTransform=trvec2tform([0 0 0]))
checkCollision(robotScn,"hand", IgnoreSelfCollision="on") Hello,
I imported 2 URDF files using the importrobot function. Then, I created a robotScenario by adding a robotPlatform for each robot. I want to check during the scenario that there are no collisions between the robots.
I tried using the checkCollision function between the 2 robotPlatforms, but this function does not accept non-rigidBodyTree-based platforms.
Then, I tried to create a robotPlatform ‘hand’ from an STL file and attach ‘hand’ to the ‘robot2Scn’ platform using the attach function, but the position of ‘hand’ does not update when I use the checkCollision(robotScn, ‘hand’, IgnoreSelfCollision="on") function. This function returns 1 when ‘robotScn’ is at the initial position of ‘hand’, otherwise it returns 0.
Is there a function or have you a suggestion to check for collisions between 2 robotPlatforms in a robotScenario?
Thank you.
robot = importrobot("robot.urdf");
robot2 = importrobot("robot_2.urdf");

scenario = robotScenario(UpdateRate=1,StopTime=10);
robotScn = robotPlatform("robot1",scenario,RigidBodyTree=robot);
robotScn2 = robotPlatform("robot2",scenario,RigidBodyTree=robot2);

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