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[isaacsim.robot_setup.collision_detector] Robot Self Collision Detector#

Version: 0.2.1

Overview#

A dockable panel for enumerating self-collision pairs in robot articulations and managing collision filters.

Usage#

  1. Open a stage containing one or more robots (with RobotAPI applied).

  2. The panel auto-discovers all robots on the stage and populates a dropdown. Select the target robot from the Robot dropdown.

  3. Click Check Collisions to enumerate collision pairs and display them in the TreeView.

  4. Optionally enable Include environment collisions before checking to also list pairs between robot links and non-robot bodies on the stage.

Features#

  • Robot auto-discovery – scans the stage for prims with the Isaac RobotAPI schema and presents them in a dropdown. Automatically refreshes when robots are added or removed (via USD notice listener).

  • Check Collisions – uses the physics engine’s initial-collider-pair query to enumerate colliding rigid body pairs under the selected robot and merges them with any existing FilteredPairsAPI relationships.

  • Include environment collisions – checkbox that broadens the pair enumeration to include collisions between robot links and non-robot bodies in the scene.

  • Rigid Body A / B columns – each body cell shows a colour swatch (unique per body, generated from a 64-colour perceptually-distinct palette) and the body prim name. Per-column A-Z / Z-A sorting via header sort icons.

  • Filtered Pair column – checkbox per row to toggle UsdPhysics.FilteredPairsAPI between the two bodies. Supports batch toggling across multi-selected rows.

  • Search – free-text search field that filters the pair list by body name in real time.

  • Select Collision Prim – per-body focal icon that selects the CollisionAPI prim(s) under that body in the Stage window.

  • Viewport highlight – selecting a row assigns selection-group outline and shade colours to both bodies and applies non-destructive displayColor / displayOpacity overrides via the session layer. Deselecting clears all overlays.

  • Stage awareness – resets state on stage open/close; clears viewport overlays when the panel is hidden.

../../../../_images/preview23.png
Preview

Enable Extension#

The extension can be enabled (if not already) in one of the following ways:

Define the next entry as an application argument from a terminal.

APP_SCRIPT.(sh|bat) --enable isaacsim.robot_setup.collision_detector

Define the next entry under [dependencies] in an experience (.kit) file or an extension configuration (extension.toml) file.

[dependencies]
"isaacsim.robot_setup.collision_detector" = {}

Open the Window > Extensions menu in a running application instance and search for isaacsim.robot_setup.collision_detector. Then, toggle the enable control button if it is not already active.