concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_collision_free_path_from_current_qpos_to_waypoints

gen_collision_free_path_from_current_qpos_to_waypoints(robot, waypoints, nr_ik_attempts=1, ignore_collision_objects=None, collision_free_planning=True, generator=False, verbose=False)

Parameters:

• robot (PandaRobot)

• waypoints (Sequence[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]])

• nr_ik_attempts (int)

• ignore_collision_objects (List[int] | None)

• collision_free_planning (bool)

• generator (bool)

• verbose (bool)

Return type:

Iterator[List[Tuple[float, float, float, float, float, float, float] | List[float] | ndarray]] | List[Tuple[float, float, float, float, float, float, float] | List[float] | ndarray] | None