concepts.dm.crowhat.manipulation_utils.pick_place_sampler.GraspContactPairProposal#

class GraspContactPairProposal[source]#

Bases: NamedTuple

GraspContactPairProposal(object_id, point1, normal1, point2, normal2, center, distance)

Methods

`count`(value, /)	Return number of occurrences of value.
`from_contact_points`(contact_point1, ...)
`index`(value[, start, stop])	Return first index of value.

Attributes

`center`	Alias for field number 5
`contact_point1`
`contact_point2`
`distance`	Alias for field number 6
`normal1`	Alias for field number 2
`normal2`	Alias for field number 4
`object_id`	Alias for field number 0
`point1`	Alias for field number 1
`point2`	Alias for field number 3

__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, object_id, point1, normal1, point2, normal2, center, distance)#

Create new instance of GraspContactPairProposal(object_id, point1, normal1, point2, normal2, center, distance)

Parameters:

object_id (int)
point1 (ndarray)
normal1 (ndarray)
point2 (ndarray)
normal2 (ndarray)
center (ndarray)
distance (float)

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

classmethod from_contact_points(contact_point1, contact_point2)[source]#

Parameters:

contact_point1 (ContactPointProposal)
contact_point2 (ContactPointProposal)

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

Return first index of value.

Raises ValueError if the value is not present.

center: ndarray#: Alias for field number 5

property contact_point1#

property contact_point2#

distance: float#: Alias for field number 6

normal1: ndarray#: Alias for field number 2

normal2: ndarray#: Alias for field number 4

object_id: int#: Alias for field number 0

point1: ndarray#: Alias for field number 1

point2: ndarray#: Alias for field number 3