Swept Sphere

Example script: examples/swept_sphere.py

This example demonstrates swept sphere collision detection for robot links.

Source Code

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

What This Example Shows

  • Computing swept sphere representations of robot links

  • Efficient collision detection using spheres

  • Visualizing collision geometry

Key Concepts

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.