pyrobosim.planning.pddlstream.primitives.test_collision_free

pyrobosim.planning.pddlstream.primitives.test_collision_free(o1, p1, o2, p2)

Test for collisions between two objects at specified poses.

Parameters:

• o1 (pyrobosim.core.objects.Object) – First object

• p1 (pyrobosim.utils.pose.Pose) – Pose of first object

• o2 (pyrobosim.core.objects.Object) – Second object

• p2 (pyrobosim.utils.pose.Pose) – Pose of second object

Returns:

True if the two objects are collision free.

Return type:

bool