concepts.dm.crowhat.manipulation_utils.pivot_sampler.gen_contact_point_for_indirect_rotation#
- gen_contact_point_for_indirect_rotation(planning_world, object_id, rotation, nr_trials=10000, batch_size=100, max_returns=1000, normal_tol=0.1)[source]#
Sample contact points on the object so that we can apply force on the object to rotate it along the given axis.
- Parameters:
planning_world (PlanningWorldInterface) – the PlanningWorldInterface instance.
object_id (int) – the ID of the object to rotate.
rotation (RotationAlongAxis) – the rotation information.
nr_trials (int) – the number of trials to sample the contact points.
batch_size (int) – the number of points to sample in each trial.
max_returns (int) – the maximum number of contact points to return.
normal_tol (float) – the tolerance of the dot product between the normal and the rotation. If the dot product is bigger than this value (meaning that they are not perpendicular), the point will be discarded.
- Return type: