concepts.simulator.pybullet.manipulation_utils.bimanual_path_generation_utils.gen_synchronized_collision_free_qpos_path_from_current_qpos_and_ee_linear_path#
- gen_synchronized_collision_free_qpos_path_from_current_qpos_and_ee_linear_path(robot1, robot1_target_pos1, robot1_target_pos2, robot2, robot2_target_pos1, robot2_target_pos2, *, robot1_ee_dir=(0, 0, -1), robot1_ee_dir2=(1, 0, 0), robot2_ee_dir=(0, 0, -1), robot2_ee_dir2=(1, 0, 0), nr_waypoints=10, ignore_collision_objects=None, return_smooth_path=False, max_joint_distance_between_waypoints=float('inf'), nr_ik_attempts=1, collision_free_planning=True)[source]#
- Parameters:
robot1 (PandaRobot)
robot1_target_pos1 (Tuple[float, float, float] | List[float] | ndarray)
robot1_target_pos2 (Tuple[float, float, float] | List[float] | ndarray)
robot2 (PandaRobot)
robot2_target_pos1 (Tuple[float, float, float] | List[float] | ndarray)
robot2_target_pos2 (Tuple[float, float, float] | List[float] | ndarray)
robot1_ee_dir (Tuple[float, float, float] | List[float] | ndarray | None)
robot1_ee_dir2 (Tuple[float, float, float] | List[float] | ndarray | None)
robot2_ee_dir (Tuple[float, float, float] | List[float] | ndarray | None)
robot2_ee_dir2 (Tuple[float, float, float] | List[float] | ndarray | None)
nr_waypoints (int)
return_smooth_path (bool)
max_joint_distance_between_waypoints (float)
nr_ik_attempts (int)
collision_free_planning (bool)