concepts.benchmark.namo.namo_polygon.namo_polygon_primitives.find_cfree_path

find_cfree_path(env, goal, goal_atol=2, allow_collision_with_movables=False, bounding_box=None)

Parameters:

• env (NamoPolygonEnv)

• goal (Tuple[int, int])

• goal_atol (float)

• allow_collision_with_movables (bool)

• bounding_box (BoundingBox | None)

Return type:

List[Tuple[int, int]] | None