Returns the numpy array representing the hand configuration.

:obj:`numpy.ndarray` : vector specifying the parameters of the grasp as follows (grasp_center, grasp_axis, grasp_angle, grasp_width, jaw_widt

Converts grasp parameters to a configuration vector.

Converts grasp parameters to a configuration vector.

Creates a straight line of action, or list of grid points, from a given point and direction in world or grid coords. Parameters

Author: wei-tang Create box instance with mesh representation.

Creates a quality function for a particular object based on a configuration, which can be passed directly from a configuration file.

Author: chenxi-wang **Input:** - width/height/depth: float, table width/height/depth along x/z/y-axis in meters - dx/dy/dz: float,

Returns an approximation to the local SDF curvature (Hessian) at the given coordinate in grid basis. Parameters ---------

The SDF data. Returns ------- :obj:`numpy.ndarray` of float The 2- or 3-dimensional ndarray that holds the grid o

float : The density of the mesh.

**Output:** - float of the depth.

**Output:** - numpy array of shape (-1, ) of the depths.

Author: chenxi-wang **Input:** - binormal: numpy array of shape (3,). - angle: float of the angle. **Output:** - numpy a

**Input:** - binormal: numpy array of shape (3,). - angle: float of the angle. **Output:** - numpy array of shape (3, 3) of t

SDF dimension information. Returns ------- :obj:`numpy.ndarray` of int The ndarray that contains the dimensions o

Evaluates the distance between two grasps. Parameters ---------- g1 : :obj:`ParallelJawPtGrasp3D` the first grasp

Returns ------- :obj:`numpy.ndarray` location of jaws in 3D space at max opening width

**Input:** - dump_folder: string of the folder that saves the npy files. - proc: int of the number of processes to use to e

**Input:** - dump_folder: string of the folder that saves the npy files. - proc: int of the number of processes to use to e

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

**Input:** - dump_folder: string of the folder that saves the npy files. - proc: int of the number of processes to use to e

**Input:** - dump_folder: string of the folder that saves the npy files. - proc: int of the number of processes to use to e

Ferrari & Canny's L1 metric. Also known as the epsilon metric. Parameters ---------- forces : 3xN :obj:`numpy.ndarray`

Ferrari & Canny's L1 metric with force only. Also known as the epsilon metric. Parameters ---------- forces : 3xN :ob

Returns the full path to the .obj file associated with this reader/writer. Returns ------- :obj:`str` The

Returns the full path to the file associated with this reader/writer. Returns ------- :obj:`str` The full

Finds the contact location with the mesh, if it exists.

Find zero crossing using linear approximation.

Flips the mesh normals.

Flips the orientation of all triangles.

Checks force closure by solving a quadratic program (whether or not zero is in the convex hull) Parameters ----------

Returns the string name of the grasp reference frame.

:obj:`str` : name of grasp reference frame

**Input:** - npy_file_path: string of the file path.

**Input:** - sceneIds:int or list of int of the scenes ids. **Output:** - a list of int of the data ids. Data coul

**Input:** - objIds: int or list of int of the object ids. **Output:** - a list of int of the scene ids that conta

**Output:** - return the id of this object

Gradients of the SDF. Returns ------- :obj:`list` of :obj:`numpy.ndarray` of float A list of ndarrays of the same

Get angles of the the grasp from the table plane: 1) the angle between the grasp axis and table normal 2) the angle between the grasp

Creates a grasp from a single contact point in grid coordinates and direction in grid coordinates. Parameters ----------

Create a grasp from given endpoints in 3D space, making the axis the line between the points. Parameters --------- g1

Condition number of grasp matrix - ratio of "weakest" wrench that the grasp can exert to the "strongest" one. Parameters ----------

Return a new grasp with the given approach angle. Parameters ---------- theta : float approach angle for the new

Returns the RigidTransformation from the gripper frame to the object frame when the gripper is executing the given grasp. Differs from the

**Output:** - float of the height.

**Output:** - float of the height.

**Output:** - numpy array of shape (-1, ) of the heights.

**Output:** - numpy array of the heights.

int : id of grasp

:obj:`numpy.ndarray` of float : The 3x3 inertial matrix of the mesh (read-only).

float : width of the jaws in the tangent plane to the grasp axis

**Input:** - ids: int or list of int of the the data ids. - extargs: extra arguments. This function can also be called with

**Function:** - load object 3D models of the given obj ids **Input:** - objIDs: int or list of int of the object i

**Function:** - load object 3D trimesh of the given obj ids **Input:** - objIDs: int or list of int of the object