I've found the answer!
There's a similar method
void PlanningScene::checkCollision(const collision_detection::CollisionRequest& req,
collision_detection::CollisionResult& res,
**robot_state::RobotState& kstate**) const
without a constant robotstate that calls the checkCollision method I mentioned above in planning_scene. RobotState can be altered to include an attached Body, which will be used for collision checking (make sure to call update() on the robot state afterwards).
I imagine you could create an imaginary link frame if you wanted to add the object to the robot for full robot collision-detection against the primitive.
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