concepts.dm.crowhat.manipulation_utils.contact_point_sampler

Basic samplers for contact points and contact pairs.

Functions

gen_candidate_pose_b_from_two_contact_points(...)	Generate candidate poses of object B by moving object B so that the contact_point_b aligns with the contact_point_a.
gen_contact_point_with_normal_constraint(...)	Sample contact points on the object with the given normal constraint.
gen_ee_pose_from_contact_point(...[, ...])	Generate the end-effector pose in order to push the object with the given contact point.
gen_robot_qpos_from_attached_object_pose(...)	Generate the robot qpos with the attached object pose.
get_desired_pose_b_from_current_object_poses(...)	Compute the desired pose of object B so that it can push object A to the desired pose.
pairwise_sample(sampler1, sampler2[, ...])	Pairwise sample from two samplers.

Classes

ContactPointProposal

A proposal of a contact point on an object.