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.