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Swept Sphere
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**Example script**: ``examples/swept_sphere.py``

This example demonstrates swept sphere collision detection for robot links.

Source Code
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https://github.com/iory/scikit-robot/blob/main/examples/swept_sphere.py

What This Example Shows
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- Computing swept sphere representations of robot links
- Efficient collision detection using spheres
- Visualizing collision geometry

Key Concepts
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Swept spheres approximate robot links as a series of spheres, enabling:

- Fast collision checking
- Smooth distance calculations
- Efficient motion planning

This representation is particularly useful for real-time collision detection and trajectory optimization.

Related Documentation
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- :doc:`../reference/planner` - Motion planning with swept spheres
- :doc:`collision_free_trajectory` - Swept sphere usage example