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What is the equivalent code of "env.CheckCollision(robot)" in C++? Even though it is said that conversion of commands from python to c++ is easy and intuitive, where can I find a proper documentation for this conversion?

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Have you checked out this example ?

It illustrates checking for self-collisions. If you also have a look at the CollisionCheckerBase class you can find OpenRAVE::CollisionCheckerBase::CheckCollision to check for collisions between two bodies, among other methods. Maybe that is enough to put the pieces together.

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