interfaces.robots

TODO: module description

Body

Collision checking

get_collision_fn	get collision checking function collision_fn(joint_values) -> bool.
get_floating_body_collision_fn	get collision checking function collision_fn(joint_values) -> bool for a floating body (no movable joint).

Body Approximation

approximate_as_prism	get the AABB bounding box of a body
approximate_as_cylinder	get the bounding cylinder of the AABB bounding box of a body

Dynamics

DynamicsInfo
set_static	set all the body’s links to be static (infinite mass, doesn’t move under gravity)

Verbose

dump_body
dump_world	print out information for all bodies that’re currently in the scene