concepts.dm.crowhat.manipulation_utils.path_generation_utils.calc_interpolated_qpos_path_from_current_qpos_and_target_qpos

calc_interpolated_qpos_path_from_current_qpos_and_target_qpos(robot, target_qpos)

Generate a linearly interpolated path from the current qpos to reach the target qpos.

Parameters:

• robot (SingleArmMotionPlanningInterface) – the robot.

• target_qpos (ndarray) – the target qpos.

Returns:

the qpos path.

Return type:

List[ndarray]