pyrobosim.planning.pddlstream.primitives.test_collision_free

pyrobosim.planning.pddlstream.primitives.test_collision_free(o1: Object, p1: Pose, o2: Object, p2: Pose) → bool

Test for collisions between two objects at specified poses.

Parameters:

• o1 – First object

• p1 – Pose of first object

• o2 – Second object

• p2 – Pose of second object

Returns:

True if the two objects are collision free.