concepts.dm.crowhat.manipulation_utils.pivot_sampler

Functions

calc_object_rotation_pose_trajectory(...[, ...])	Generate an object pose trajectory that rotates the object along the given axis by the given angle.
calc_single_arm_indirect_pivot_ee_pose_trajectory(...)
calc_single_arm_indirect_pivot_qpos_trajectory(...)
check_collision_for_two_arm_indirect_pivot_parameters(...)
gen_contact_point_for_indirect_rotation(...)	Sample contact points on the object so that we can apply force on the object to rotate it along the given axis.
gen_single_arm_indirect_pivot_parameter(...)

Classes

RotationAlongAxis	The rotation information that specifies the rotation center, the rotation axis, and the rotation angle.
SingleArmIndirectPivotParameter	SingleArmIndirectPivotParameter(object_id, tool_id, support_id, rotation, contact_point_on_a, contact_point_on_b, b_pose, pre_contact_distance, post_contact_distance, robot_qpos, robot_ee_pose)