concepts.simulator.pybullet.manipulation_utils.grasping_samplers.LocalConvexificationGraspGeneratorConfig#

class LocalConvexificationGraspGeneratorConfig[source]#

Bases: GraspGeneratorConfig

The minimum number of points in the point cloud to perform local convexification.

Methods

Attributes

`constraint_pos_x`	Visualize the configuration returned by the grasp generator.
`debug_vis_return`	Visualize the each configuration tested by the grasp generator.
`debug_vis_trials`
`max_ik_diff`	If true, the z-axis of the gripper should point to the front.
`min_gripper_gap`	The minimum difference between the two normals of the gripper attachment points.
`min_normal_difference`	The minimum quaternion norm.
`min_pointcloud_size`	The minimum gap between two gripper attachment points.
`min_quat_norm`	The maximum difference between the ik solution and the target.

__init__(min_pointcloud_size=10, min_gripper_gap=0.01, min_normal_difference=0.9, min_quat_norm=0.5, max_ik_diff=0.02, constraint_pos_x=True, debug_vis_return=False, debug_vis_trials=False)#

Parameters:

min_pointcloud_size (int)
min_gripper_gap (float)
min_normal_difference (float)
min_quat_norm (float)
max_ik_diff (float)
constraint_pos_x (bool)
debug_vis_return (bool)
debug_vis_trials (bool)

Return type:

None

__new__(**kwargs)#

constraint_pos_x: bool = True#: Visualize the configuration returned by the grasp generator.

debug_vis_return: bool = False#: Visualize the each configuration tested by the grasp generator.

debug_vis_trials: bool = False#

max_ik_diff: float = 0.02#: If true, the z-axis of the gripper should point to the front.

min_gripper_gap: float = 0.01#: The minimum difference between the two normals of the gripper attachment points.

min_normal_difference: float = 0.9#: The minimum quaternion norm.

min_pointcloud_size: int = 10#: The minimum gap between two gripper attachment points.

min_quat_norm: float = 0.5#: The maximum difference between the ik solution and the target.