concepts.dm.crowhat.manipulation_utils.operation_space_trajectory.gen_joint_trajectory_from_cartesian_path_with_differential_ik# gen_joint_trajectory_from_cartesian_path_with_differential_ik(arm, start_qpos, cartesian_path, step_size=0.01, target_tolerance=0.01)[source]# Parameters: arm (GeneralArmArmMotionPlanningInterface) start_qpos (Tuple[float, ...] | List[float] | ndarray) cartesian_path (Sequence[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]]) step_size (float) target_tolerance (float)