concepts.simulator.sapien2.manipulation_utils.contact_samplers

Functions

collision_free_qpos(table_scene, object_id, qpos)	Check whether the given qpos is collision free.
gen_qpos_to_pose_trajectory(table_scene, ...)
gen_qpos_to_qpos_trajectory(table_scene, ...)
get_single_contact_normal(scene, object_id, ...)
load_indirect_push_parameter(file_path)
main()
main_0()
mesh_line_intersect(t_mesh, ray_origin, ...)	Intersects a ray with a mesh.
sample_grasp(table_scene, object_id[, ...])	Given the name of the object, sample a 6D grasp pose.
sample_indirect_push_with_support(scene, ...)
sample_push_with_support(scene, object_id, ...)

Classes

GraspParameter	GraspParameter(point1: numpy.ndarray, normal1: numpy.ndarray, point2: numpy.ndarray, normal2: numpy.ndarray, ee_pos: numpy.ndarray, ee_quat_wxyz: numpy.ndarray, qpos: numpy.ndarray)
IndirectPushParameter	IndirectPushParameter(object_push_pos: numpy.ndarray, object_push_dir: numpy.ndarray, tool_pos: numpy.ndarray, tool_quat_wxyz: numpy.ndarray, tool_point_pos: numpy.ndarray, tool_point_normal: numpy.ndarray, prepush_distance: float = 0.05, push_distance: float = 0.1)
PushParameter	PushParameter(push_pos: numpy.ndarray, push_dir: numpy.ndarray, distance: float)