concepts.dm.crowhat.manipulation_utils.plannar_push_sampler.PlanarIndirectPushParameter#

class PlanarIndirectPushParameter[source]#

Bases: object

PlanarIndirectPushParameter(object_id: int, tool_id: int, support_id: int, push_pos: numpy.ndarray, push_dir: numpy.ndarray, contact_on_point_object: numpy.ndarray, contact_on_point_tool: numpy.ndarray, tool_pose: Tuple[numpy.ndarray, numpy.ndarray], prepush_distance: float, push_distance: float)

Methods

Attributes

`total_push_distance`
`object_id`
`tool_id`
`support_id`
`push_pos`
`push_dir`
`contact_on_point_object`
`contact_on_point_tool`
`tool_pose`
`prepush_distance`
`push_distance`

__init__(object_id, tool_id, support_id, push_pos, push_dir, contact_on_point_object, contact_on_point_tool, tool_pose, prepush_distance, push_distance)#

Parameters:

object_id (int)
tool_id (int)
support_id (int)
push_pos (ndarray)
push_dir (ndarray)
contact_on_point_object (ndarray)
contact_on_point_tool (ndarray)
tool_pose (Tuple[ndarray, ndarray])
prepush_distance (float)
push_distance (float)

Return type:

None

__new__(**kwargs)#

contact_on_point_object: ndarray#

contact_on_point_tool: ndarray#

object_id: int#

prepush_distance: float#

push_dir: ndarray#

push_distance: float#

push_pos: ndarray#

support_id: int#

tool_id: int#

tool_pose: Tuple[ndarray, ndarray]#

property total_push_distance#