concepts.simulator.pybullet.manipulation_utils.grasping_samplers#

Classes

GraspGeneratorConfig

GraspGeneratorConfig()

GraspReturn

GraspReturn(point1: numpy.ndarray, normal1: numpy.ndarray, point2: numpy.ndarray, normal2: numpy.ndarray, ee_pos: numpy.ndarray, ee_quat: numpy.ndarray, qpos: numpy.ndarray)

GraspSampler

Generate grasps for the input mesh.

LocalConvexificationGraspGeneratorConfig

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

LocalConvexificationGraspSampler