concepts.dm.crowhat.manipulation_utils.contact_point_sampler.get_desired_pose_b_from_current_object_poses#

get_desired_pose_b_from_current_object_poses(current_a_pose, current_b_pose, desired_a_pose)[source]#

Compute the desired pose of object B so that it can push object A to the desired pose. It assumes that the relative pose between A and B is fixed.

Parameters:

current_a_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]) – the current pose of object A.
current_b_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]) – the current pose of object B.
desired_a_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]) – the desired pose of object A.