def assess_collision(self):
"""Silent detection of the robot base with all other entities present in the scene.
:return: True if collision is detected
"""
return sim.simCheckCollision(self._collision_collection,
sim.sim_handle_all) == 1
def check_arm_collision(self, obj: 'Object' = None) -> bool:
"""Checks whether two entities are colliding.
:param obj: The other collidable object to check collision against,
or None to check against all collidable objects. Note that objects
must be marked as collidable!
:return: If the object is colliding.
"""
handle = sim.sim_handle_all if obj is None else obj.get_handle()
return sim.simCheckCollision(self._collision_collection, handle) == 1
def check_collision(self, obj: 'Object' = None) -> bool:
"""Checks whether two entities are colliding.
:param obj: The other collidable object to check collision against,
or None to check against all collidable objects. Note that objects
must be marked as collidable!
:return: If the object is colliding.
"""
handle = sim.sim_handle_all if obj is None else obj.get_handle()
for ob in self.get_objects_in_tree(exclude_base=False):
ob_handle = ob._handle
if sim.simCheckCollision(ob_handle, handle):
return True
return False