concepts.dm.crowhat.manipulation_utils.plannar_push_sampler.gen_planar_push_contact_point

gen_planar_push_contact_point(planning_world, object_id, support_id, *, max_attempts=1000, batch_size=100, contact_normal_tol=0.02, filter_push_dir=None, np_random=None, verbose=False)

Parameters:

• planning_world (PlanningWorldInterface)

• object_id (int)

• support_id (int)

• max_attempts (int)

• batch_size (int)

• contact_normal_tol (float)

• filter_push_dir (ndarray | None)

• np_random (RandomState | None)

• verbose (bool)

Return type:

Iterator[ContactPointProposal]