pyrobosim.core.world.World.sample_object_spawn_pose

World.sample_object_spawn_pose(obj: Object, obj_spawn: ObjectSpawn, max_tries: int) → Pose | None

Samples an object pose in a specific object spawn.

Parameters:

• obj – Object instance.

• obj_spawn – Object spawn instance.

• max_tries – The maximum number of tries to sample.

Returns:

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