Explanation of Collision Constraints

[kaustabpal]

Can you please explain the different collision constraints:

1. primitive_collisions: I couldn't find any info on this
2. robot_self_collision: I am assuming this is for not colliding with the arm links
3. scene_collision: This is for not colliding with environment obstacles using SceneCollisionNet.
4. voxel_collision: I couldn't find any info on this

It would be really helpful if you can explain what primitive Collisions and Voxel Collisions are for.
Thank you.

[balakumar-s]

primitive_collision: This is used to compute collision between the robot and the world.
voxel_collision: This is used to compute collision between the robot and the world, where the world is represented by voxels. This was experimental and didn't work reliably.