concepts.simulator.pybullet.manipulation_utils.path_generation_utils.gen_synchronized_collision_free_cartesian_path_from_current_qposes

gen_synchronized_collision_free_cartesian_path_from_current_qposes(robot1, robot1_target_pos1, robot1_target_pos2, robot2, robot2_target_pos1, robot2_target_pos2, *, robot1_ee_dir=(0, 0, -1), robot1_ee_dir2=(1, 0, 0), robot2_ee_dir=(0, 0, -1), robot2_ee_dir2=(1, 0, 0), nr_waypoints=10, ignore_collision_objects=None, return_smooth_path=False, nr_ik_attempts=1, collision_free_planning=True)

Parameters:

• robot1 (PandaRobot)

• robot1_target_pos1 (Tuple[float, float, float] | List[float] | ndarray)

• robot1_target_pos2 (Tuple[float, float, float] | List[float] | ndarray)

• robot2 (PandaRobot)

• robot2_target_pos1 (Tuple[float, float, float] | List[float] | ndarray)

• robot2_target_pos2 (Tuple[float, float, float] | List[float] | ndarray)

• robot1_ee_dir (Tuple[float, float, float] | List[float] | ndarray | None)

• robot1_ee_dir2 (Tuple[float, float, float] | List[float] | ndarray | None)

• robot2_ee_dir (Tuple[float, float, float] | List[float] | ndarray | None)

• robot2_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)