pybullet_planning.interfaces.geometry.get_bodies_in_region

pybullet_planning.interfaces.geometry.get_bodies_in_region(aabb)

This query will return all the unique ids of objects that have axis aligned bounding box overlap with a given axis aligned bounding box.

Note that the query is conservative and may return additional objects that don’t have actual AABB overlap. This happens because the acceleration structures have some heuristic that enlarges the AABBs a bit (extra margin and extruded along the velocity vector).

Parameters

aabb ([type]) – [description]

Returns

a list of object unique ids.