concepts.dm.crowhat.manipulation_utils.contact_point_sampler.gen_ee_pose_from_contact_point

gen_ee_pose_from_contact_point(planning_world, robot, object_id, contact_point, distance=0.01, z_delta=0.0, nr_trials=4, side='front')

Generate the end-effector pose in order to push the object with the given contact point.

Parameters:

• planning_world (PlanningWorldInterface) – the PlanningWorldInterface instance.

• robot (SingleArmMotionPlanningInterface) – the robot instance.

• object_id (int) – the ID of the object.

• contact_point (ContactPointProposal) – the contact point.

• distance (float) – the distance between the contact point and the end-effector.

• nr_trials (int) – the number of trials to sample the end-effector poses.

• side (str) – the side of the hand to push. It can be either ‘front’ or ‘back’ or ‘down’.

• z_delta (float)

Return type:

Iterator[Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]]