concepts.simulator.pybullet.manipulation_utils.contact_samplers.sample_grasp#
- sample_grasp(robot, object_id, gripper_distance, max_intersection_distance=10, mesh_filename=None, mesh_scale=1.0, max_test_points_before_first=250, max_test_points=100000000, batch_size=100, surface_pointing_tol=0.9, min_point_distance=0.0001, np_random=None, verbose=False)[source]#
Given the name of the object, sample a 6D grasp pose. Before calling this function, we should make sure that the gripper is open.
- Parameters:
robot (BulletArmRobotBase)
object_id (int)
gripper_distance (float)
max_intersection_distance (float)
mesh_filename (str | None)
mesh_scale (float)
max_test_points_before_first (int)
max_test_points (int)
batch_size (int)
surface_pointing_tol (float)
min_point_distance (float)
np_random (RandomState | None)
verbose (bool)
- Return type: