concepts.dm.crowhat.manipulation_utils.operation_space_trajectory.gen_joint_trajectory_from_cartesian_path_with_differential_ik

gen_joint_trajectory_from_cartesian_path_with_differential_ik(arm, start_qpos, cartesian_path, step_size=0.01, target_tolerance=0.01)

Parameters:

• arm (GeneralArmArmMotionPlanningInterface)

• start_qpos (Tuple[float, ...] | List[float] | ndarray)

• cartesian_path (Sequence[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]])

• step_size (float)

• target_tolerance (float)