concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_qpos_path_from_ee_path#

gen_qpos_path_from_ee_path(robot, trajectory, max_pairwise_distance=0.1, verbose=False)[source]#

Given a list of 6D poses, generate a list of qpos that the robot should follow to follow the trajectory.

Parameters:
  • robot (BulletArmRobotBase) – the robot.

  • trajectory (List[Tuple[ndarray, ndarray]]) – the trajectory of 6D poses.

  • max_pairwise_distance (float) – the maximum distance between two consecutive qpos. This is the L2 distance in the configuration space.

  • verbose (bool) – whether to print additional information.

Returns:

a tuple of (success, qpos_trajectory). If success is False, the qpos_trajectory will contain the qpos that have been successfully computed.

Return type:

Tuple[bool, List[ndarray]]