concepts.dm.crowhat.manipulation_utils.contact_point_sampler.gen_robot_qpos_from_attached_object_pose

gen_robot_qpos_from_attached_object_pose(planning_world, robot, pos, quat, nr_trials=10, max_returns=1)

Generate the robot qpos with the attached object pose.

Parameters:

• planning_world (PlanningWorldInterface) – the PlanningWorldInterface instance.

• robot (SingleArmMotionPlanningInterface) – the robot instance.

• pos (Tuple[float, float, float] | List[float] | ndarray) – the position of the object.

• quat (Tuple[float, float, float, float] | List[float] | ndarray) – the quaternion of the object.

• nr_trials (int)

• max_returns (int)

Returns:

an iterator of possible robot qpos information, as tuples of end-effector pose and qpos.

Return type:

Iterator[Tuple[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray], ndarray]]