concepts.simulator.sapien2.manipulation_utils.contact_samplers.sample_grasp#
- sample_grasp(table_scene, object_id, gripper_distance=0.08, pregrasp_distance=0.105, max_intersection_distance=10, max_attempts=10000000, verbose=False, max_test_points_before_first=250, max_test_points=100000000, batch_size=100, surface_pointing_tol=0.9, gripper_min_distance=0.0001, np_random=None, guidance_center=None, guidance_direction=None, guidance_radius=0.01, start_time=None, timeout=60)[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:
table_scene (magic.tasks.table_scene.TableScene)
object_id (int)
gripper_distance (float)
pregrasp_distance (float)
max_intersection_distance (float)
max_attempts (int)
verbose (bool)
max_test_points_before_first (int)
max_test_points (int)
batch_size (int)
surface_pointing_tol (float)
gripper_min_distance (float)
np_random (RandomState | None)
guidance_center (ndarray | None)
guidance_direction (ndarray | None)
guidance_radius (float)
- Return type: