concepts.dm.crowhat.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, target_quat=None, ee_dir=(0, 0, -1), ee_dir2=(1, 0, 0), *, nr_ik_attempts=1, return_smooth_path=False, generator=False, verbose=False)

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

Parameters:

• robot (SingleArmMotionPlanningInterface)

• target_pos (Tuple[float, float, float] | List[float] | ndarray)

• target_quat (Tuple[float, float, float, float] | List[float] | ndarray | None)

• ee_dir (Tuple[float, float, float] | List[float] | ndarray | None)

• ee_dir2 (Tuple[float, float, float] | List[float] | ndarray | None)

• nr_ik_attempts (int)

• return_smooth_path (bool)

• generator (bool)

• verbose (bool)