concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_qpos_path_from_current_qpos_and_ee_pose#

gen_qpos_path_from_current_qpos_and_ee_pose(robot, target_pos, ee_dir=(0, 0, -1), ee_dir2=(1, 0, 0), return_smooth_path=False, *, nr_ik_attempts=1)[source]#

Generate a collision-free path from the current qpos to reach the target_pos and target_quat.

Parameters: