---
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

## Changes

- **2026-04-13** `325edd10e0bd` — 1 info
  - added the required property `additionalProperties/prim_path` to the response with the `200` status
- **2026-02-13** `b5a3cb21a443` — 1 info
  - added `#/components/schemas/TreeSweepParameters` to the request body `anyOf` list
- **2025-12-02** `1c198c91dc8e` — 2 breaking
  - removed `#/components/schemas/TreeSweepParameters` from the request body `anyOf` list
  - removed the required property `additionalProperties/prim_path` from the response with the `200` status

[Change history](https://skmtc.dev/wandelbotsgmbh/apis/wandelbots-nova-isaac-sim-extension-api/changes/physics/collision/sweep/post.md)

---

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