pyrobosim.planning.pddlstream.primitives.sample_place_pose

pyrobosim.planning.pddlstream.primitives.sample_place_pose(loc: Entity, obj: Object, max_tries: int = 100) → Generator[tuple[Pose], None, None]

Samples a feasible placement pose for an object at a specific location.

Parameters:

• loc – Location at which to place object.

• obj – Object to place.

• max_tries – Maximum samples to try before giving up.

Returns:

Generator yielding tuple containing a placement pose