concepts.simulator.pybullet.manipulation_utils.contact_samplers.IndirectPushParameter#

class IndirectPushParameter[source]#

Bases: object

IndirectPushParameter(target_push_pos: numpy.ndarray, target_push_dir: numpy.ndarray, tool_pos: numpy.ndarray, tool_quat: numpy.ndarray, tool_point_pos: numpy.ndarray, tool_point_normal: numpy.ndarray, ee_pos: numpy.ndarray = None, ee_quat: numpy.ndarray = None, prepush_distance: float = 0.05, push_distance: float = 0.1)

Methods

Attributes

`ee_pos`
`ee_quat`
`prepush_distance`
`push_distance`
`total_push_distance`
`target_push_pos`
`target_push_dir`
`tool_pos`
`tool_quat`
`tool_point_pos`
`tool_point_normal`

__init__(target_push_pos, target_push_dir, tool_pos, tool_quat, tool_point_pos, tool_point_normal, ee_pos=None, ee_quat=None, prepush_distance=0.05, push_distance=0.1)#

Parameters:

target_push_pos (ndarray)
target_push_dir (ndarray)
tool_pos (ndarray)
tool_quat (ndarray)
tool_point_pos (ndarray)
tool_point_normal (ndarray)
ee_pos (ndarray)
ee_quat (ndarray)
prepush_distance (float)
push_distance (float)

Return type:

None

__new__(**kwargs)#

ee_pos: ndarray = None#

ee_quat: ndarray = None#

prepush_distance: float = 0.05#

push_distance: float = 0.1#

target_push_dir: ndarray#

target_push_pos: ndarray#

tool_point_normal: ndarray#

tool_point_pos: ndarray#

tool_pos: ndarray#

tool_quat: ndarray#

property total_push_distance#