pub fn simulate_multi_push(
config: PusherMppiConfig,
params: PusherSliderParams,
starts: &[SliderState],
goals: &[SliderState],
max_steps: usize,
) -> RoboticsResult<MultiPushReport>Expand description
Push several sliders to their goals one at a time, treating the other objects (at their current poses) as keep-out obstacles for the active one.
Objects are pushed in index order; each object’s resting pose then becomes an obstacle for the objects pushed after it. This reproduces the multi-object arrangement setting of “Push Anything” without a simultaneous multi-contact solve.