concepts.dm.crowhat.manipulation_utils.path_generation_utils

Functions

calc_grasp_pose_from_current_object_pose_and_ee_pose(...)	Compute the grasp pose from the current object pose and the desired ee pose.
calc_interpolated_qpos_path_from_current_qpos_and_target_qpos(...)	Generate a linearly interpolated path from the current qpos to reach the target qpos.
calc_smooth_ee_path_from_ee_path(ee_path[, ...])
calc_smooth_qpos_path_from_qpos_path(robot, qt)
gen_collision_free_qpos_path_from_current_qpos_and_ee_linear_path(...)	Generate a collision-free Cartesian path from the current qpos to follow a straight line from target_pos1 to target_pos2.
gen_collision_free_qpos_path_from_current_qpos_and_ee_path(...)
gen_collision_free_qpos_path_from_current_qpos_and_ee_pose(...)	Generate a collision-free path from the current qpos to reach the target_pos.
gen_collision_free_qpos_path_from_current_qpos_and_target_qpos(...)	Generate a collision-free path from the current qpos to reach the target qpos.
gen_qpos_path_from_current_qpos_and_ee_pose(...)	Generate a collision-free path from the current qpos to reach the target_pos and target_quat.
gen_qpos_path_from_ee_path(robot, trajectory)	Given a list of 6D poses, generate a list of qpos that the robot should follow to follow the trajectory.
is_collision_free_ee_pose(robot, pos[, ...])	Check whether there is a qpos at the givne pose that is collision free.
is_collision_free_qpos(robot, qpos[, ...])	Check whether the given qpos is collision free.
is_collision_free_qpos_path(robot, ...[, ...])
wrap_iterator_smooth_qpos_path(robot, ...)