Coal (Flexible Collision Library Extension)

Coal is an extension of the Flexible Collision Library (FCL) that provides efficient implementations of GJK and EPA algorithms for collision detection and distance computation in robotics and related fields. It offers robust Python bindings for easy prototyping and integration. Originally a fork named HPP-FCL, it was officially renamed to Coal in 2024. The library is actively maintained, with version 3.0.2 being the latest stable release.