concepts.simulator.sapien2.manipulation_utils.contact_samplers.get_single_contact_normal

get_single_contact_normal(scene, object_id, support_id, deviation_tol=0.05)

Parameters:

• scene (sapien.core.pysapien.Scene)

• object_id (int)

• support_id (int)

• deviation_tol (float)

Return type:

ndarray