concepts.simulator.sapien2.manipulation_utils.contact_samplers.sample_push_with_support

sample_push_with_support(scene, object_id, support_id, max_attempts=1000, batch_size=100, push_distance_fn=None, np_random=None, verbose=False)

Parameters:

• scene (sapien.core.pysapien.Scene)

• object_id (int)

• support_id (int)

• max_attempts (int)

• batch_size (int)

• push_distance_fn (Callable | None)

• np_random (RandomState | None)

• verbose (bool)

Return type:

Iterator[PushParameter]