concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_collision_free_cartesian_path_from_current_qpos#
- gen_collision_free_cartesian_path_from_current_qpos(robot, target_pos1, target_pos2, ee_dir=(0, 0, -1), ee_dir2=(1, 0, 0), nr_waypoints=10, ignore_collision_objects=None, return_smooth_path=False, *, nr_ik_attempts=1, collision_free_planning=True)[source]#
Generate a collision-free Cartesian path from the current qpos to follow a straight line from target_pos1 to target_pos2.
- Parameters: