concepts.simulator.sapien2.manipulation_utils.contact_samplers.GraspParameter#

class GraspParameter[source]#

Bases: object

GraspParameter(point1: numpy.ndarray, normal1: numpy.ndarray, point2: numpy.ndarray, normal2: numpy.ndarray, ee_pos: numpy.ndarray, ee_quat_wxyz: numpy.ndarray, qpos: numpy.ndarray)

Methods

Attributes

`point1`
`normal1`
`point2`
`normal2`
`ee_pos`
`ee_quat_wxyz`
`qpos`

__init__(point1, normal1, point2, normal2, ee_pos, ee_quat_wxyz, qpos)#

Parameters:

point1 (ndarray)
normal1 (ndarray)
point2 (ndarray)
normal2 (ndarray)
ee_pos (ndarray)
ee_quat_wxyz (ndarray)
qpos (ndarray)

Return type:

None

__new__(**kwargs)#

ee_pos: ndarray#

ee_quat_wxyz: ndarray#

normal1: ndarray#

normal2: ndarray#

point1: ndarray#

point2: ndarray#

qpos: ndarray#