pyrobosim.utils.world_collision.is_connectable

pyrobosim.utils.world_collision.is_connectable(start: Pose, goal: Pose, world: World, robot: Robot | None = None, step_dist: float = 0.01, max_dist: float | None = None) → bool

Checks connectivity between two poses start and goal in the world by sampling points spaced by the collision_check_dist parameter and verifying that every point is in the free configuration space.

Parameters:

• start – Start pose

• goal – Goal pose

• world – The world in which the poses are located.

• robot – The robot instance used for checking occupancy.

• step_dist – The step size for discretizing a straight line to check collisions.

• max_dist – The maximum allowed connection distance.

Returns:

True if poses can be connected, else False.