concepts.dm.crowhat.manipulation_utils.pick_place_sampler.gen_grasp_contact_pair#
- gen_grasp_contact_pair(planning_world, object_id, gripper_distance, *, gripper_min_distance=0.0001, surface_pointing_tol=0.9, mesh_filename=None, mesh_scale=1.0, max_test_points_before_first=250, max_test_points=100000000, batch_size=100, max_intersection_distance=10, np_random=None, verbose=False)[source]#
Given the name of the object, sample a 6D grasp pose. Before calling this function, the program should make sure that the gripper is open.
- Parameters:
planning_world (PlanningWorldInterface)
object_id (int)
gripper_distance (float)
gripper_min_distance (float)
surface_pointing_tol (float)
mesh_filename (str | None)
mesh_scale (float)
max_test_points_before_first (int)
max_test_points (int)
batch_size (int)
max_intersection_distance (float)
np_random (RandomState | None)
verbose (bool)
- Return type: