concepts.dm.crowhat.manipulation_utils.pivot_sampler.SingleArmIndirectPivotParameter#

class SingleArmIndirectPivotParameter[source]#

Bases: NamedTuple

SingleArmIndirectPivotParameter(object_id, tool_id, support_id, rotation, contact_point_on_a, contact_point_on_b, b_pose, pre_contact_distance, post_contact_distance, robot_qpos, robot_ee_pose)

Methods

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

Attributes

`b_pose`	Alias for field number 6
`contact_point_on_a`	Alias for field number 4
`contact_point_on_b`	Alias for field number 5
`object_id`	Alias for field number 0
`post_contact_distance`	Alias for field number 8
`pre_contact_distance`	Alias for field number 7
`robot_ee_pose`	Alias for field number 10
`robot_qpos`	Alias for field number 9
`rotation`	Alias for field number 3
`support_id`	Alias for field number 2
`tool_id`	Alias for field number 1

__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, tool_id, support_id, rotation, contact_point_on_a, contact_point_on_b, b_pose, pre_contact_distance, post_contact_distance, robot_qpos, robot_ee_pose)#

Create new instance of SingleArmIndirectPivotParameter(object_id, tool_id, support_id, rotation, contact_point_on_a, contact_point_on_b, b_pose, pre_contact_distance, post_contact_distance, robot_qpos, robot_ee_pose)

Parameters:

object_id (int)
tool_id (int)
support_id (int)
rotation (RotationAlongAxis)
contact_point_on_a (ContactPointProposal)
contact_point_on_b (ContactPointProposal)
b_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray])
pre_contact_distance (float)
post_contact_distance (float)
robot_qpos (ndarray)
robot_ee_pose (Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | 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.

b_pose: Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]#: Alias for field number 6

contact_point_on_a: ContactPointProposal#: Alias for field number 4

contact_point_on_b: ContactPointProposal#: Alias for field number 5

object_id: int#: Alias for field number 0

post_contact_distance: float#: Alias for field number 8

pre_contact_distance: float#: Alias for field number 7

robot_ee_pose: Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]#: Alias for field number 10

robot_qpos: ndarray#: Alias for field number 9

rotation: RotationAlongAxis#: Alias for field number 3

support_id: int#: Alias for field number 2

tool_id: int#: Alias for field number 1