pybullet_planning.motion_planners.lazy_prm.lazy_prm

pybullet_planning.motion_planners.lazy_prm.lazy_prm(start, goal, sample_fn, extend_fn, collision_fn, num_samples=100, weights=None, p_norm=2, lazy=False, max_cost=inf, max_time=inf, verbose=False, draw_fn=None, **kwargs)[source]
Parameters

  • start – Start configuration - conf

  • goal – End configuration - conf

  • sample_fn – Sample function - sample_fn()->conf

  • extend_fn – Extension function - extend_fn(q1, q2)->[q’, …, q”]

  • collision_fn – Collision function - collision_fn(q)->bool

  • max_time – Maximum runtime - float

  • kwargs – Keyword arguments

Returns

Path [q’, …, q”] or None if unable to find a solution