The collision properties of a link. The origin is only needed when more than one collision is added. Note that this can be different from the visual properties of a link, for example, simpler collision models are often used to reduce computation time.
Origin: The reference frame of the visual element with respect to the reference frame of the link.
- Var: smtk_transform
- Type: Input
- Default: 0 0 0 0 0 0 1
- Values info: x y z qx qy qz qw
Geometry: Defines the shape of the collision object (Note: Scale is not supported yet).
Margin: This variable specifies the collision margin used in meters. If the collision is small, a smaller margin will help the emulation.
- Var: smtk_float
- Type: Constant
- Default: 0.04
If a mesh geometry is used, make sure to set the margin to a low value.