concepts.simulator.pybullet.manipulation_utils.contact_samplers.collision_free_qpos

collision_free_qpos(robot, qpos, exclude=None, verbose=False)

Check whether the given qpos is collision free. The function also accepts a list of object ids to exclude (e.g., the object in hand).

Parameters:

• robot (BulletArmRobotBase) – the robot.

• qpos (ndarray) – the qpos to check.

• exclude (List[int] | None) – the object ids to exclude.

• verbose (bool) – whether to print the collision information.

Returns:

True if the qpos is collision free.

Return type:

bool