concepts.simulator.pybullet.manipulation_utils.contact_samplers.mesh_line_intersect# mesh_line_intersect(t_mesh, ray_origin, ray_direction)[source]# Intersects a ray with a mesh. Parameters: t_mesh (TriangleMesh) – the mesh to intersect with. ray_origin (ndarray) – the origin of the ray. ray_direction (ndarray) – the direction of the ray. Returns: A tuple of (point, normal) if an intersection is found, None otherwise. Return type: Tuple[ndarray, ndarray] | None