concepts.dm.crowhat.manipulation_utils.pick_place_sampler.BimanualGraspParameter#

class BimanualGraspParameter[source]#

Bases: NamedTuple

BimanualGraspParameter(contact_pair, pre_contact_distance, post_contact_distance, robot1_ee_pose, robot1_qpos, robot2_ee_pose, robot2_qpos)

Methods

`count`(value, /)	Return number of occurrences of value.
`index`(value[, start, stop])	Return first index of value.

Attributes

`contact_pair`	Alias for field number 0
`post_contact_distance`	Alias for field number 2
`pre_contact_distance`	Alias for field number 1
`robot1_ee_pose`	Alias for field number 3
`robot1_qpos`	Alias for field number 4
`robot2_ee_pose`	Alias for field number 5
`robot2_qpos`	Alias for field number 6

__add__(value, /)#: Return self+value.

__getitem__(key, /)#: Return self[key].

__init__()#

__iter__()#: Implement iter(self).

__len__()#: Return len(self).

__mul__(value, /)#: Return self*value.

static __new__(_cls, contact_pair, pre_contact_distance, post_contact_distance, robot1_ee_pose, robot1_qpos, robot2_ee_pose, robot2_qpos)#

Create new instance of BimanualGraspParameter(contact_pair, pre_contact_distance, post_contact_distance, robot1_ee_pose, robot1_qpos, robot2_ee_pose, robot2_qpos)

Parameters:

contact_pair (GraspContactPairProposal)
pre_contact_distance (float)
post_contact_distance (float)
robot1_ee_pose (Tuple[ndarray, ndarray])
robot1_qpos (ndarray)
robot2_ee_pose (Tuple[ndarray, ndarray])
robot2_qpos (ndarray)

count(value, /)#: Return number of occurrences of value.

index(value, start=0, stop=9223372036854775807, /)#

Return first index of value.

Raises ValueError if the value is not present.

contact_pair: GraspContactPairProposal#: Alias for field number 0

post_contact_distance: float#: Alias for field number 2

pre_contact_distance: float#: Alias for field number 1

robot1_ee_pose: Tuple[ndarray, ndarray]#: Alias for field number 3

robot1_qpos: ndarray#: Alias for field number 4

robot2_ee_pose: Tuple[ndarray, ndarray]#: Alias for field number 5

robot2_qpos: ndarray#: Alias for field number 6