concepts.simulator.pybullet.manipulation_utils.bimanual_contact_samplers.BimanualPickupParameter#

class BimanualPickupParameter[source]#

Bases: object

BimanualPickupParameter(target_contact_point1: numpy.ndarray, target_contact_normal1: numpy.ndarray, target_contact_point2: numpy.ndarray, target_contact_normal2: numpy.ndarray, contact_pos1: numpy.ndarray, contact_quat1: numpy.ndarray, contact_pos2: numpy.ndarray, contact_quat2: numpy.ndarray, move_dir: numpy.ndarray, move_distance: float)

Methods

Attributes

`target_contact_point1`	The first contact point on the target object, in the world frame.
`target_contact_normal1`	The normal of the first contact point on the target object.
`target_contact_point2`	The second contact point on the target object, in the world frame.
`target_contact_normal2`	The normal of the second contact point on the target object.
`contact_pos1`	The pos of the first tool object, in the world frame.
`contact_quat1`	The quat of the first tool object.
`contact_pos2`	The pos of the second tool object, in the world frame.
`contact_quat2`	The quat of the second tool object.
`move_dir`	The direction of the move, on the target object.
`move_distance`	The distance of the move.

__init__(target_contact_point1, target_contact_normal1, target_contact_point2, target_contact_normal2, contact_pos1, contact_quat1, contact_pos2, contact_quat2, move_dir, move_distance)#

Parameters:

target_contact_point1 (ndarray)
target_contact_normal1 (ndarray)
target_contact_point2 (ndarray)
target_contact_normal2 (ndarray)
contact_pos1 (ndarray)
contact_quat1 (ndarray)
contact_pos2 (ndarray)
contact_quat2 (ndarray)
move_dir (ndarray)
move_distance (float)

Return type:

None

__new__(**kwargs)#

contact_pos1: ndarray#: The pos of the first tool object, in the world frame.

contact_pos2: ndarray#: The pos of the second tool object, in the world frame.

contact_quat1: ndarray#: The quat of the first tool object.

contact_quat2: ndarray#: The quat of the second tool object.

move_dir: ndarray#: The direction of the move, on the target object.

move_distance: float#: The distance of the move.

target_contact_normal1: ndarray#: The normal of the first contact point on the target object.

target_contact_normal2: ndarray#: The normal of the second contact point on the target object.

target_contact_point1: ndarray#: The first contact point on the target object, in the world frame.

target_contact_point2: ndarray#: The second contact point on the target object, in the world frame.