---
title: "Sweep Collisions"
method: POST
path: "/physics/collision/sweep"
tags: ["Collision World"]
---

# Sweep Collisions

`POST /physics/collision/sweep`

Performs a collision sweep with the specified volume and returns the colliders that were hit.

## Query parameters

- `relative_to_prim` string, nullable — Prim path to which the collision object poses are relative to. If not provided, world coordinates are used.

## Request body

- union
  - TreeSweepParameters
    - `sweep_type` 'tree', required
    - `base_prim_path` string — Base prim path to perform the tree sweep from
  - SphereSweepParameters
    - `sweep_type` 'sphere', required
    - `radius` number — Radius [stage_units]
    - `position` number[] — Position of the sphere sweep [stage_units]
    - `direction` number[] — Direction of the sphere sweep
    - `max_distance` number — Sweep distance [stage_units]
  - BoxSweepParameters
    - `sweep_type` 'box', required
    - `half_extent` number[] — Half extent of the box [stage_units]
    - `sphere_radius` number
    - `position` number[] — Position of the box sweep [stage_units]
    - `rotation` number[] — Rotation of the box sweep in quaternion format
    - `direction` number[] — Direction of the box sweep
    - `max_distance` number — Sweep distance [stage_units]

## Response `200`

Successful Response

- object

## Other responses

- `422` — Validation Error

---

[API](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api.md) · [All operations](https://skmtc.net/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/llms.txt) · [OpenAPI document](https://skmtc-service-staging.skmtc.workers.dev/v1/apis/wandelbotsgmbh/wandelbots-nova-isaac-sim-extension-api/versions/a0efd7dad77c/schema)