collision-geometry

Name: collision-geometry
Availability: InStock
Author: wimble

Design URDF collision geometry with primitives and multi-collision links for ROS 2 and Gazebo.

18|2|Updated Apr 20, 2026

Search Tags:#simulation #collision #ros2 #robotics #urdf #nav2

Ready to run

npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill collision-geometry

💬 Prompt for ChatGPT / Claude Chat▼

Please help me install this Agent Skill.
Skill: collision-geometry
Source: https://github.com/wimblerobotics/ros2-copilot-skills/tree/main/collision-geometry
Command: npx skills add https://github.com/wimblerobotics/ros2-copilot-skills --skill collision-geometry

SYSTEM DOCUMENTATION & REQUIREMENTS

What problem does it solve?

This Skill helps engineers design URDF collision geometry that matches the robot's physical envelope while keeping simulation fast and stable.

Core Features & Use Cases

Primitives-first collision modeling: use simple shapes to approximate complex geometry for fast collision checks.
Multi-collision per link: combine several collision elements to approximate non-convex shapes.
Footprint consistency: align Nav2 footprint with collision envelope to ensure safe navigation.

Quick Start

Review the robot model URDF and replace complex collision meshes with simple primitives that preserve the intended footprint.

Frequently Asked Questions about collision-geometry

High-intent search queries and answers about installing and using this skill.

FAQPage Schema

How do I design URDF collision geometry for ROS 2 simulations?▼

Use simple primitives to approximate complex visual meshes, balancing physical envelope accuracy with physics performance to keep ROS 2 simulations fast and stable while maintaining safe navigation.

Why does my Gazebo simulation run slow with complex URDF collision meshes?▼

Complex URDF collision meshes slow down Gazebo simulations by increasing collision check complexity. Replace detailed meshes with simple primitives or convex hulls to significantly improve physics performance and stability.

Can I use multiple collision elements per link in a URDF file?▼

Yes, you can configure multiple collision elements per link in a URDF file. Combining several simple collision primitives allows you to effectively approximate non-convex robot shapes without sacrificing simulation speed.

How do I align Nav2 footprint with URDF collision geometry?▼

Align Nav2 footprint with URDF collision geometry by ensuring the collision envelope matches the robot's physical boundary. This consistency guarantees accurate collision avoidance and safe navigation behavior during autonomous movement.

When should I use convex hulls for URDF collision modeling?▼

Use convex hulls for URDF collision modeling when approximating shapes that are too complex for single primitives but need better physics performance than raw meshes. This approach adheres to best-practice requirements for stable simulations.