Load a mesh from a file. Note ---- If the mesh is not already in .obj format, this requires the installation of meshl

Return a copy of the mesh. Note ---- This method only copies the vertices and triangles of the mesh.

Transforms points from world frame to grid frame.

Creates a line of action, or the points in space that the grasp traces out, from a point g in world coordinates on an object. Returns

Find the point at which a point traveling along a given line of action hits a surface. Parameters ---------- line_of_

Author: chenxi-wang Create box instance with mesh representation.

Returns the SDF gradient at the given coordinates, interpolating if necessary. Parameters ---------- coords : :obj:`n

Author: chenxi-wang **Input:** - points: numpy array of (N,3), point cloud - trans: numpy array of (4,4), transformation matrix

Computes the grasp map between contact forces and wrenchs on the object in its reference frame. Parameters ----------

Returns True if coords is an out of bounds access. Parameters ---------- coords : :obj:`numpy.ndarray` of int A 2

Author: chenxi-wang Decode posevector to object id and transformation matrix.

**Input:** - pixel_x: numpy array of int of the pixel x coordinate. shape: (-1,) - pixel_y: numpy array of int of the pixle y coordicat

**Input:** - points: np.array(-1,3) of the points in camera frame - camera: string of the camera type **Output:** - coords: f

Convert param list to a configuration vector for the class.

**Input:** - num: int of the scene number. **Output:** - string of the scene name.

Finds the minimum norm point in the convex hull of a given facet (aka simplex) by solving a QP. Parameters ----------

**Input:** - scene_ids: list of int of scene index. - dump_folder: string of the folder that saves the npy files.

**Input:** - points: np.array(-1,3) of the points in camera frame **Output:** - coords: float of xy in pixel frame [-1, 2] -

Returns the direction vector and tangent vectors at a contact point. The direction vector defaults to the *inward-facing* normal vector at

**Output:** - int of the length.

make resnet layers(by layer i didnt mean this 'layer' was the same as a neuron netowork layer, ex. conv layer), one layer may

Project the given point onto the plane containing the three points in tri_verts. Parameters ---------- tri_verts : :o

**Input:** - pixel_x: numpy array of int of the pixel x coordinate. shape: (-1,) - pixel_y: numpy array of int of the pixle y coordicat

**Input:** - points: np.array(-1,3) of the points in camera frame - camera: string of the camera type **Output:** - coords: f

detect 2d grasp from GHM heatmaps. Args: loc_map (Tensor): B x 1 x H x W cls_mask (Tensor): B x anchor_k x H_r x W_r thet

**Input:** - sceneId: int of the scene index. - camera: string of type of camera, 'realsense' or 'kinect' - annId:

Returns the maximum coordinates of the mesh. Returns ------- :obj:`numpy.ndarray` of float A 3-ndarray of floats

Returns the minimum coordinates of the mesh. Returns ------- :obj:`numpy.ndarray` of float A 3-ndarray of floats

Transforms points from grid frame to world frame.

**Output:** - int of the length.

Return the area of the given triangle. Parameters ---------- tri : :obj:`numpy.ndarray` of int The triangle for w

Computes axes for a transformed basis relative to the plane in which input vertices lie. Parameters ---------- face_v

Compute the projection window onto the basis defined by u1 and u2. Params: u1, u2 - orthogonal numpy 3 arrays width -

**Input:** - element: Grasp instance or GraspGroup instance.

**Input:** - pixel_x: numpy array of int of the pixel x coordinate. shape: (-1,) - pixel_y: numpy array of int of the pixle y coordicat

Returns the mesh's bounding box corners. Returns ------- :obj:`tuple` of :obj:`numpy.ndarray` of float A 2-tuple

Center the mesh's vertices at the center of its bounding box. This shifts the mesh without rotating it so that the center of its boun

Find zero crossing using quadratic approximation along 1d line.

**Input:** - pixel_x: int of the pixel x coordinate. - pixel_y: int of the pixle y coordicate. - depth: float of depth. The unit i

Author: chenxi-wang **Input:** - dataset_root: str, graspnet dataset root - scene_name: str, name of scene folder, e.g. scene_0000

Author: chenxi-wang View sampling on a sphere using Febonacci lattices. **Input:** - N: int, number of viewpoints. - phi: float, c

**Input:** - camera: string of type of camera, "realsense" or "kinect". **Output:** - numpy array of shape (3, 3) of the camera in

author: Minghao Gou **Input:** - camera: string of type of camera: 'kinect' or 'realsense' **Output:** - open3d.camera.Pinhol

**Input:** - sceneIds: int or list of int of the scene ids. **Output:** - dict of the collision labels.

**Input:** - sceneId: int of scene id. - annId: int of annotation id. - format: string of grasp format, '6d' or 'r

**Input:** - objIds: int or list of int of the object ids. **Output:** - a dict of grasplabels of each object.

Determines whether or not a point is on the object surface. Parameters ---------- coords : :obj:`numpy.ndarray` of int

Author: chenxi-wang **Input:** - center: numpy array of (3,), target point as gripper center - R: numpy array of (3,3), rotation m

Returns the points on the surface. Returns ------- :obj:`tuple` of :obj:`numpy.ndarray` of int, :obj:`numpy.ndarray` of float

Converts a point in grid coords to the world basis. If direction then don't translate. Parameters ---------- x_grid :

Computes the center point of the bounding box. Returns ------- :obj:`numpy.ndarray` of float 3-ndarray of floats

Computes the centroid (mean) of the mesh's vertices. Returns ------- :obj:`numpy.ndarray` of float 3-ndarray of f

Computes a directed acyclic graph (DAG) specifying the toppling structure of the mesh faces by: 1) Computing the mesh convex hull

Is the given point contained in the given triangle? Parameters ---------- tri_verts : :obj:`list` of :obj:`numpy.ndarray` of

Normalized axis of grasp from endpoints as np 3-arrays.

Grasp center from endpoints as np 3-arrays.

Finds the contact points by closing on the given object. Parameters ---------- obj : :obj:`GraspableObject3D` obj

Compute Anchor Loss. :param pred: A tuple (Location Map, Cls Mask, Offset theta, Offset h, Offset w) :param target: ground truth :param r

Checks whether or not the key is supported.

Computes the friction cone and normal for a contact point. Parameters ---------- num_cone_faces : int number of c