**Input:** - index: int, slice, list or np.ndarray. **Output:** - if index is int, return Grasp instance.

**Input:** - index: int, slice, list or np.ndarray. **Output:** - if index is int, return Grasp instance.

Returns the signed distance at the given coordinates. Parameters ---------- coords : :obj:`numpy.ndarray` of int

Returns the signed distance at the given coordinates. Parameters ---------- coords : :obj:`numpy.ndarray` of int

**Input:** - args can be a numpy array or tuple of the score, width, height, depth, rotation_matrix, translation, object_id

**Input:** - args can be (1) nothing (2) numpy array of grasp group array (3) str of the npy file.

**Input:** - args can be a numpy array or tuple of the center_x, center_y, open_x, open_y, height, score, object_id - the f

**Input:** - args can be (1) nothing (2) numpy array of rect_grasp_group_array (3) str of the numpy file.

graspnetAPI main class. **input**: - camera: string of type of camera: "kinect" or "realsense" - split: string of type of s

Construct and initialize a .obj file reader and writer. Parameters ---------- filepath : :obj:`str` The full path

Construct a 3D triangular mesh. Parameters ---------- vertices : :obj:`numpy.ndarray` of float A #verts by 3 arra

Creates a Segment with given endpoints. Parameters ---------- p1 : :obj:`numpy.ndarray` of float

Create a graph vertex with given probability and face. Parameters ---------- probability : float

Construct and initialize a .sdf file reader and writer. Parameters ---------- filepath : :obj:`str` The full path

Create a new stable pose object. Parameters ---------- p : float Probability associated with this stable pose.

**Input:** - rect_grasp: RectGrasp instance

float : approach angle of the grasp

:obj:`numpy.ndarray` : normalized 3-vector specifying the line between the jaws

**Input:** - depths: numpy array of the depths. - centers: numpy array of the center points of shape(-1, 2). - open_points: numpy

**Input:** - depths: numpy array of the depths. - centers: numpy array of the center points of shape(-1, 2). - open_points: numpy

:obj:`numpy.ndarray` of float : The 3D location of the center of the mesh's minimal bounding box (read-only).

Returns the mesh bounding box as a mesh. Returns ------- :obj:`Mesh3D` A Mesh3D representation of the mesh's boun

:obj:`numpy.ndarray` : 3-vector specifying the center of the jaws

Center of grid. This basically transforms the world frame to grid center. Returns ------- :obj:`numpy.ndarray`

**Input:** - depths: numpy array of the depths. - center: numpy array of the center point. - open_point: numpy array of the open p

:obj:`numpy.ndarray` of float : The 3D location of the mesh's center of mass.

**Output:** - tuple of x,y of the center point.

**Output:** - numpy array the center points of shape (-1, 2).

Center the mesh's vertices on the mesh center of mass. This shifts the mesh without rotating it so that the center of its bounding bo

Center the mesh's vertices at the centroid. This shifts the mesh without rotating it so that the centroid (mean) of all vertices is a

Center of grid (basically transforms world frame to grid center)

:obj:`numpy.ndarray` of float : The 3D location of the mesh's vertex mean (read-only).

Check whether the dataset files are complete. **Output:** - bool, True for complete, False for not complete.

Steps along grasp axis to find the locations of contact with an object. Parameters ---------- obj : :obj:`GraspableOb

Steps along grasp axis to find the locations of contact with an object. Parameters ---------- obj : :obj:`GraspableOb

float : minimum opening width of the jaws

Get normals from triangles.