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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.

Mandatory children

  • 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.