concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_collision_free_path_from_current_qpos_and_ee_pose#
- gen_collision_free_path_from_current_qpos_and_ee_pose(robot, target_pos, ee_dir=(0, 0, -1), ee_dir2=(1, 0, 0), ignore_collision_objects=None, return_smooth_path=False, *, nr_ik_attempts=1, visualize=False, verbose=False)[source]#
Generate a collision-free path from the current qpos to reach the target_pos.
- Parameters:
robot (BulletArmRobotBase)
target_pos (Tuple[float, float, float] | List[float] | ndarray)
ee_dir (Tuple[float, float, float] | List[float] | ndarray | None)
ee_dir2 (Tuple[float, float, float] | List[float] | ndarray | None)
return_smooth_path (bool)
nr_ik_attempts (int)
visualize (bool)
verbose (bool)