concepts.simulator.pybullet.manipulation_utils.contact_samplers.sample_pivot_with_support

sample_pivot_with_support(robot, object_id, support_object_id, max_attempts=1000, batch_size=100, pivot_angle_fn=None, allow_pivot_upwards=False, np_random=None, verbose=False)

Parameters:

• robot (BulletArmRobotBase)

• object_id (int)

• support_object_id (int)

• max_attempts (int)

• batch_size (int)

• pivot_angle_fn (Callable | None)

• allow_pivot_upwards (bool)

• np_random (RandomState | None)

• verbose (bool)

Return type:

Iterable[PivotParameter]