pyrobosim.planning.pddlstream.primitives.sample_place_pose

pyrobosim.planning.pddlstream.primitives.sample_place_pose(loc, obj, max_tries=100)

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

Parameters:

  • loc (Location) – Location at which to place object.

  • obj (Object) – Object to place.

  • max_tries (int, optional) – Maximum samples to try before giving up.

Returns:

Generator yielding tuple containing a placement pose

Return type:

generator[tuple[pyrobosim.utils.pose.Pose]]