pyrobosim.planning.pddlstream.primitives.sample_motion

pyrobosim.planning.pddlstream.primitives.sample_motion(planner: PathPlanner, p1: Pose, p2: Pose) → Generator[tuple[Path], None, None]

Samples a feasible motion plan from a start to a goal pose.

Parameters:

• planner – Motion planner object.

• start – Start pose.

• goal – Goal pose.

Returns:

Generator yielding tuple containing a path from start to goal.