concepts.simulator.pybullet.manipulation_utils.contact_samplers.get_single_contact_normal

get_single_contact_normal(robot, object_id, support_object_id, deviation_tol=0.05)

Parameters:

• robot (BulletArmRobotBase)

• object_id (int)

• support_object_id (int)

• deviation_tol (float)

Return type:

ndarray