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:
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#