concepts.dm.crowhat.manipulation_utils.pick_place_sampler

Functions

calc_grasp_approach_ee_pose_trajectory(...)	Given the name of the object, the grasp pose, generate a trajectory of 6D poses that the robot should follow to grasp the object.
gen_bimanual_grasp_parameter(planning_world, ...)
gen_grasp_contact_pair(planning_world, ...)	Given the name of the object, sample a 6D grasp pose.
gen_grasp_contact_pair_with_support_constraint(...)
gen_grasp_parameter(planning_world, robot, ...)
gen_placement_parameter(planning_world, ...)	Sample a placement of the target object on the support object.
pybullet_visualize_binamual_grasp_parameter(...)

Classes

BimanualGraspParameter	BimanualGraspParameter(contact_pair, pre_contact_distance, post_contact_distance, robot1_ee_pose, robot1_qpos, robot2_ee_pose, robot2_qpos)
GraspContactPairProposal	GraspContactPairProposal(object_id, point1, normal1, point2, normal2, center, distance)
GraspParameter	GraspParameter(contact_pair, robot_ee_pose, robot_qpos)
PlacementParameter	PlacementParameter(object_id, support_id, target_pos, target_quat, support_normal)