pyrobosim.utils.world_collision.check_occupancy

pyrobosim.utils.world_collision.check_occupancy(pose: Pose | Sequence[float], world: World, robot: Robot | None = None) → bool

Check if a pose in the world is occupied. If robot instance is provided, interpretation would be based on robot’s perception of the world.

Parameters:

• pose – The pose to check.

• world – The world in which the pose is located.

• robot – The robot instance used for checking collision.

Returns:

True if the pose is occupied, else False.