pyrobosim.core.world.World.sample_object_spawn_pose

World.sample_object_spawn_pose(obj, obj_spawn, max_tries)

Samples an object pose in a specific object spawn.

Parameters:

• obj (pyrobosim.core.objects.Object) – Object instance.

• obj_spawn (pyrobosim.core.locations.ObjectSpawn) – Object spawn instance.

• max_tries (int) – The maximum number of tries to sample.

Returns:

A sampled spawn pose, if one was found. Otherwise returns None.

Return type:

pyrobosim.utils.pose.Pose / None