concepts.simulator.pybullet.manipulation_utils.contact_samplers

Functions

collision_free_pos(robot, pos[, quat, ...])	Check whether there is a qpos at the givne pose that is collision free.
collision_free_qpos(robot, qpos[, exclude, ...])	Check whether the given qpos is collision free.
collision_free_qpos_trajectory(robot, ...[, ...])
gen_grasp_trajectory(grasp_pos, grasp_quat)	Given the name of the object, the grasp pose, generate a trajectory of 6D poses that the robot should follow to grasp the object.
gen_pivot_trajectory(pivot_point, ...)	Given the name of the object, the pivot pose, the pivot axis, and the pivot angle, generate a trajectory of 6D poses that the robot should follow to pivot the object.
gen_push_trajectory(push_pos, push_dir, ...)	Given the name of the object, the push pose, the push direction, and the push distance, generate a trajectory of 6D poses that the robot should follow to push the object.
get_single_contact_normal(robot, object_id, ...)
mesh_line_intersect(t_mesh, ray_origin, ...)	Intersects a ray with a mesh.
qpos_trajectory_from_poses(robot, trajectory)	Given a list of 6D poses, generate a list of qpos that the robot should follow to follow the trajectory.
qpos_trajectory_from_poses_pybullet(robot, ...)
rotate_point_along_axis(point, axis, angle)	Rotate the point along the axis by the given angle.
sample_grasp(robot, object_id, gripper_distance)	Given the name of the object, sample a 6D grasp pose.
sample_indirect_push_with_support(robot, ...)	Sample a push of the target object using the tool object.
sample_pivot_with_support(robot, object_id, ...)
sample_placement(robot, target_id, support_id)	Sample a placement of the target object on the support object.
sample_points_uniformly(pcd, nr_points[, ...])
sample_push_with_support(robot, object_id, ...)
visualize_pivot_trajectory(robot, object_id, ...)

Classes

GraspParameter	GraspParameter(point1: numpy.ndarray, normal1: numpy.ndarray, point2: numpy.ndarray, normal2: numpy.ndarray, ee_pos: numpy.ndarray, ee_quat: numpy.ndarray, qpos: numpy.ndarray)
IndirectPushParameter	IndirectPushParameter(target_push_pos: numpy.ndarray, target_push_dir: numpy.ndarray, tool_pos: numpy.ndarray, tool_quat: numpy.ndarray, tool_point_pos: numpy.ndarray, tool_point_normal: numpy.ndarray, ee_pos: numpy.ndarray = None, ee_quat: numpy.ndarray = None, prepush_distance: float = 0.05, push_distance: float = 0.1)
PivotParameter	PivotParameter(pivot_point: numpy.ndarray, pivot_normal: numpy.ndarray, pivot_quat: numpy.ndarray, pivot_axis_pos: numpy.ndarray, pivot_axis_dir: numpy.ndarray, pivot_angle: float)
PlacementParameter	PlacementParameter(target_pos: numpy.ndarray, target_quat: numpy.ndarray, support_normal: numpy.ndarray)
PushParameter	PushParameter(push_pos: numpy.ndarray, push_dir: numpy.ndarray, distance: float, ee_quat: numpy.ndarray)