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)

Generate a collision-free Cartesian path from the current qpos to follow a straight line from target_pos1 to target_pos2.

Parameters:

• robot (PandaRobot)

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

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

• nr_waypoints (int)

• ignore_collision_objects (List[int] | None)

• return_smooth_path (bool)

• nr_ik_attempts (int)

• collision_free_planning (bool)