concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_qpos_path_from_current_qpos_and_target_qpos#
- gen_qpos_path_from_current_qpos_and_target_qpos(robot, target_qpos, ignored_collision_bodies=None, verbose=False)[source]#
Generate a collision-free path from the current qpos to reach the target qpos.
- Parameters:
robot (BulletArmRobotBase) – the robot.
target_qpos (ndarray) – the target qpos.
ignored_collision_bodies (List[int] | None) – the object ids to ignore in collision checking.
verbose (bool) – whether to print additional information.
- Returns:
the qpos path if successful.
- Return type: