concepts.dm.crowhat.manipulation_utils.pick_place_sampler.gen_grasp_contact_pair_with_support_constraint

gen_grasp_contact_pair_with_support_constraint(planning_world, object_id, support_id, gripper_distance, *, gripper_min_distance=0.0001, surface_pointing_tol=0.9, support_normal_tol=0.1, 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)

Parameters:

• planning_world (PlanningWorldInterface)

• object_id (int)

• support_id (int)

• gripper_distance (float)

• gripper_min_distance (float)

• surface_pointing_tol (float)

• support_normal_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:

Iterator[GraspContactPairProposal]