matlab-plan-robot-motion

Use manipulatorRRT with your rigidBodyTree robot and a cell array of collision objects, then call plan with start and goal configurations. Always call shorten afterward to remove jagged detours, and verify the robot has collision meshes and DataFormat set to row before planning.

Use manipulatorRRT for collision primitives, occupancyMap3D, or point cloud environments and when paths must route around obstacles. Use manipulatorCHOMP with meshtsdf or spherical obstacles when you need inherently smooth trajectories, since it jointly optimizes smoothness and collision cost.

Use contopptraj, which implements the TOPPRA algorithm to produce truly time-optimal trajectories respecting velocity and acceleration limits. Pass the transposed path (numJoints by numWaypoints) along with per-joint velocity and acceleration limit matrices.

Parent-child bodies and parallel-linkage gripper pairs often have permanently overlapping collision geometry. Start with SkippedSelfCollisions set to parent at planner construction; if collisions persist, build an explicit skip list empirically by sampling configurations and finding always-NaN pairs in the separation distance matrix.

Yes, but with world objects checkCollision returns a 1-by-2 result of self-collision and world-collision flags. Using it directly in an if statement only tests the first element, so capture the result and check any(result) to catch world collisions.

Do not use it for building or importing robot models, solving IK or FK, or configuring end-effectors, which belong to the robot kinematics modeling skill. It also excludes mobile robot navigation, dynamics simulation, and code generation deployment of planners.