concepts.simulator.sapien2.manipulation_utils.contact_samplers.gen_qpos_to_qpos_trajectory

gen_qpos_to_qpos_trajectory(table_scene, start_qpos, end_qpos, exclude_ids=None, planning_time=1.0, pcd_resolution=1e-3, ignore_env=False, verbose=False, idx=None)

Parameters:

• table_scene (magic.tasks.table_scene.TableScene)

• end_qpos (ndarray)

• exclude_ids (List[int] | None)

• planning_time (float)

• pcd_resolution (float)

• ignore_env (bool)

• verbose (bool)

• idx (int)