concepts.simulator.pybullet.manipulation_utils.contact_samplers.gen_pivot_trajectory

gen_pivot_trajectory(pivot_point, pivot_normal, pivot_quat, pivot_axis_pos, pivot_axis_dir, pivot_angle)

Given the name of the object, the pivot pose, the pivot axis, and the pivot angle, generate a trajectory of 6D poses that the robot should follow to pivot the object.

Parameters:

• pivot_point (ndarray)

• pivot_normal (ndarray)

• pivot_quat (ndarray)

• pivot_axis_pos (ndarray)

• pivot_axis_dir (ndarray)

• pivot_angle (float)

Return type:

List[Tuple[ndarray, ndarray]]