concepts.simulator.pybullet.manipulation_utils.contact_samplers#

Functions

`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.
`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_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)