concepts.dm.crowhat.manipulation_utils.pivot_sampler.gen_single_arm_indirect_pivot_parameter

gen_single_arm_indirect_pivot_parameter(planning_world, robot, object_id, tool_id, support_id, rotation, max_returns=1, contact_point_max_returns=100, tool_pose_nr_trials=4, pre_contact_distance=0.01, post_contact_distance=0.005, verbose=False)

Parameters:

• planning_world (PlanningWorldInterface)

• robot (SingleArmMotionPlanningInterface)

• object_id (int)

• tool_id (int)

• support_id (int)

• rotation (RotationAlongAxis)

• max_returns (int)

• contact_point_max_returns (int)

• tool_pose_nr_trials (int)

• pre_contact_distance (float)

• post_contact_distance (float)

• verbose (bool)

Return type:

Iterator[SingleArmIndirectPivotParameter]