concepts.simulator.sapien2.manipulation_utils.contact_samplers.sample_indirect_push_with_support

sample_indirect_push_with_support(scene, tool_id, object_id, support_id, prepush_distance=0.05, max_attempts=10000000, batch_size=1000, filter_push_dir=None, push_distance_distribution=(0.1, 0.15), push_distance_sample=False, contact_normal_tol=0.01, np_random=None, verbose=False, check_reachability=None, tool_contact_point_filter=None)

Parameters:

• scene (sapien.core.pysapien.Scene)

• tool_id (int)

• object_id (int)

• support_id (int)

• prepush_distance (float)

• max_attempts (int)

• batch_size (int)

• filter_push_dir (ndarray | None)

• push_distance_distribution (Sequence[float])

• push_distance_sample (bool)

• contact_normal_tol (float)

• np_random (RandomState | None)

• verbose (bool)

• check_reachability (Callable[[ndarray], bool])

• tool_contact_point_filter (Callable[[ndarray], ndarray])

Return type:

Iterator[IndirectPushParameter]