concepts.simulator.sapien2.manipulation_utils.contact_samplers.IndirectPushParameter#

class IndirectPushParameter[source]#

Bases: object

IndirectPushParameter(object_push_pos: numpy.ndarray, object_push_dir: numpy.ndarray, tool_pos: numpy.ndarray, tool_quat_wxyz: numpy.ndarray, tool_point_pos: numpy.ndarray, tool_point_normal: numpy.ndarray, prepush_distance: float = 0.05, push_distance: float = 0.1)

Methods

Attributes

`prepush_distance`
`push_distance`
`total_push_distance`
`object_push_pos`
`object_push_dir`
`tool_pos`
`tool_quat_wxyz`
`tool_point_pos`
`tool_point_normal`

__init__(object_push_pos, object_push_dir, tool_pos, tool_quat_wxyz, tool_point_pos, tool_point_normal, prepush_distance=0.05, push_distance=0.1)#

Parameters:

object_push_pos (ndarray)
object_push_dir (ndarray)
tool_pos (ndarray)
tool_quat_wxyz (ndarray)
tool_point_pos (ndarray)
tool_point_normal (ndarray)
prepush_distance (float)
push_distance (float)

Return type:

None

__new__(**kwargs)#

object_push_dir: ndarray#

object_push_pos: ndarray#

prepush_distance: float = 0.05#

push_distance: float = 0.1#

tool_point_normal: ndarray#

tool_point_pos: ndarray#

tool_pos: ndarray#

tool_quat_wxyz: ndarray#

property total_push_distance#