concepts.simulator.pybullet.manipulation_utils.bimanual_path_generation_utils.gen_synchronized_collision_free_qpos_path_from_current_qpos_and_ee_path#
- gen_synchronized_collision_free_qpos_path_from_current_qpos_and_ee_path(robot1, robot1_waypoints, robot2, robot2_waypoints, nr_ik_attempts=1, ignore_collision_objects=None, collision_free_planning=True, max_joint_distance_between_waypoints=float('inf'), generator=False, verbose=False)[source]#
- Parameters:
robot1 (PandaRobot)
robot1_waypoints (Sequence[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]])
robot2 (PandaRobot)
robot2_waypoints (Sequence[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]])
nr_ik_attempts (int)
collision_free_planning (bool)
max_joint_distance_between_waypoints (float)
generator (bool)
verbose (bool)
- Return type:
Iterator[Tuple[List[Tuple[float, float, float, float, float, float, float] | List[float] | ndarray], List[Tuple[float, float, float, float, float, float, float] | List[float] | ndarray]]] | Tuple[List[Tuple[float, float, float, float, float, float, float] | List[float] | ndarray] | None, List[Tuple[float, float, float, float, float, float, float] | List[float] | ndarray] | None]