pybullet_planning.interfaces.kinematics.select_solution

pybullet_planning.interfaces.kinematics.select_solution(body, joints, solutions, nearby_conf=True, random=False, **kwargs)[source]

select one joint configuration given a list of them

Parameters

  • body (pybullet body) – This can be any pybullet body, including the robot

  • joints (a list of pybullet joint)

  • solutions (a list of float-lists) – joint values

  • nearby_conf (bool) – return the joint conf that is closest to the current conf in pybullet env, defaults to True

  • random (bool) – randomly chose one

  • **kwargs (optional) – additional arguments for the cost function when ranking

Returns

a list of lists or one list – the joint configuration(s)