concepts.simulator.pybullet.manipulation_utils.contact_samplers.qpos_trajectory_from_poses#

qpos_trajectory_from_poses(robot, trajectory, max_pairwise_distance=0.1, verbose=False)[source]#

Given a list of 6D poses, generate a list of qpos that the robot should follow to follow the trajectory.

Parameters:

robot (BulletArmRobotBase) – the robot.
trajectory (List[Tuple[ndarray, ndarray]]) – the trajectory of 6D poses.
max_pairwise_distance (float) – the maximum distance between two consecutive qpos. This is the L2 distance in the configuration space.
verbose (bool) – whether to print the information.

Returns:

a tuple of (success, qpos_trajectory). If success is False, the qpos_trajectory will contain the qpos that have been successfully computed.

Return type:

Tuple[bool, List[ndarray]]