concepts.dm.crowhat.world.manipulator_interface.CollisionChecker

class CollisionChecker

Bases: object

Methods

__call__(qpos)

Call self as a function.

Parameters:

qpos (Tuple[float, ...] | List[float] | ndarray)

Return type:

bool

__init__(check_collision_fn, ignored_collision_bodies=None, collision_tol=None, move_from_contact_collision_args=None, move_to_contact_collision_args=None, move_from_qpos=None, move_to_qpos=None)

Parameters:

• ignored_collision_bodies (List[str | int] | None)

• collision_tol (float | None)

• move_from_contact_collision_args (MotionPlanningContactTimeCollisionCheckingArguments | None)

• move_to_contact_collision_args (MotionPlanningContactTimeCollisionCheckingArguments | None)

• move_from_qpos (Tuple[float, ...] | List[float] | ndarray | None)

• move_to_qpos (Tuple[float, ...] | List[float] | ndarray | None)

__new__(**kwargs)