collision-geometry
CommunityStreamline URDF collision geometry for ROS 2.
Authorwimblerobotics
Version1.0.0
Installs0
System Documentation
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.
Dependency Matrix
Required Modules
None requiredComponents
Standard package💻 Claude Code Installation
Recommended: Let Claude install automatically. Simply copy and paste the text below to Claude Code.
Please help me install this Skill: Name: collision-geometry Download link: https://github.com/wimblerobotics/ros2-copilot-skills/archive/main.zip#collision-geometry Please download this .zip file, extract it, and install it in the .claude/skills/ directory.
Agent Skills Search Helper
Install a tiny helper to your Agent, search and equip skill from 471,000+ vetted skills library on demand.