:obj:`numpy.ndarray` of int : A #tris by 3 array, where each row contains indices of vertices in the `vertices` array that are part of

Convert to trimesh.

Rotation matrix from canonical grasp reference frame to object reference frame. X axis points out of the gripper palm along the 0-degr

Updates the mesh transformation.

:obj:`numpy.ndarray` of float : A #verts by 3 array, where each row contains an ordered [x,y,z] set that describes one vertex.

**Input:** - towards: numpy array towards vector with shape (3,). - angle: float of in-plane rotation. **Output:** - numpy ar

author: Minghao Gou **Input:** - rec_grasp_tuples: np.array of rectangle grasps - numGrasp: int of total grasps number to show

Plots visualization of mesh using MayaVI. Parameters ---------- color : :obj:`tuple` of float 3-tuple of floats i

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

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

Evalutes wrench resistance: the inverse norm of the contact forces required to resist a target wrench Estimates resistance by sollving a

Volume of grasp matrix singular values - score of all wrenches that the grasp can resist. Parameters ---------- forces : 3xN

Writes an SDF to a file. Parameters ---------- sdf : :obj:`Sdf` An Sdf object to write out. Note