concepts.dm.crowhat.manipulation_utils.plannar_push_sampler

Functions

calc_push_ee_pose_trajectory(...)	Given the name of the object, the push pose, the push direction, and the push distance, generate a trajectory of 6D poses that the robot should follow to push the object.
gen_planar_indirect_push_parameter(...[, ...])	Sample a push of the target object using the tool object.
gen_planar_push_contact_point(...[, ...])
gen_planar_push_parameter(planning_world, ...)

Classes

PlanarIndirectPushParameter	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)
PlanarPushParameter	PlanarPushParameter(object_id: int, push_pos: numpy.ndarray, push_dir: numpy.ndarray, prepush_distance: float, push_distance: float, robot_ee_pose: Tuple[numpy.ndarray, numpy.ndarray])