pybullet_planning.interfaces.robots.approximate_as_prism

pybullet_planning.interfaces.robots.approximate_as_prism(body, body_pose=((0.0, 0.0, 0.0), (0.0, 0.0, 0.0, 1.0)), link=-1, **kwargs)[source]

get the AABB bounding box of a body

Note: the generated AABB is not truly axis-aligned, bounding box under world axis x, y

Parameters

  • body (int) – pb body’s index

  • body_pose ([type], optional) – [description], by default unit_pose()

Returns

tuple of (Point, float) – bounding box center and extent length