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: