pyrobosim.planning.pddlstream.primitives.sample_motion

pyrobosim.planning.pddlstream.primitives.sample_motion(planner, p1, p2)

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

Parameters:

• planner (Planner) – Motion planner object.

• start (pyrobosim.utils.pose.Pose) – Start pose.

• goal (pyrobosim.utils.pose.Pose) – Goal pose.

Returns:

Generator yielding tuple containing a path from start to goal

Return type:

generator[tuple[pyrobosim.utils.motion.Path]]