algorithms¶

Submodules¶

rrt

Classes¶

class brom_drake.motion_planning.algorithms.motion_planner.MotionPlanner(robot_model_idx: ModelInstanceIndex, plant: MultibodyPlant, scene_graph: SceneGraph, random_seed: int = 23)[source]¶

check_collision_in_config(q_model: ndarray) → bool[source]¶

Description:: This function checks for collisions in the robot’s environment.

property joint_limits: ndarray¶

Description:: This function retrieves the joint limits of the robot.

sample_random_configuration() → ndarray[source]¶: Description¶

This function samples a random configuration within the joint limits.

Functions¶

(None found)

Variables¶

(None found)