pybullet_planning.motion_planners.rrt_connect.rrt_connect

[sunnymints]

Thanks for your contribution. I have a question about the pybullet_planning.motion_planners.rrt_connect.rrt_connect function. Does the q1 (list) – start configuration and q2 (list) – end configuration
in the function represent the 6D position or the joint angle?

If q1,q2are the joint angle, how does this function determine which robot to solve?

(It seems to be solving the problem of Cartesian space"Point Mass Problem". Is there a function to solve the multi-joint ur5 motion planning?)