A triangular mesh for a three-dimensional shape representation. Attributes ---------- vertices : :obj:`numpy.ndarray` of float A

3D Graspable object for computing contact in grasping. Attributes ---------- sdf : :obj:`Sdf3D` signed distance field, for quickl

Parallel Jaw point grasps in 3D space.

Stores the results of grasp quality computation. Attributes ---------- quality : float value of quality uncertainty : float

Parameters for quasi-static grasp quality computation. Attributes ---------- config : :obj:`dict` dictionary mapping parameter na

Parameters for quasi-static grasp quality computation. Attributes ---------- config : :obj:`dict` dictionary mapping parameter na

3D contact points. Attributes ---------- graspable : :obj:`GraspableObject3D` object to use to get contact information contac

Class for evaluation on GraspNet dataset. **Input:** - root: string of root path for the dataset. - camera: string of type of the camer

A Wavefront .obj file reader and writer. Attributes ---------- filepath : :obj:`str` The full path to the .obj file associated wi

Grasp quality metric using a quasi-static model.

Grasp quality metric using a robust quasi-static model (average over random perturbations)

A Signed Distance Field .sdf file reader and writer. Attributes ---------- filepath : :obj:`str` The full path to the .sdf or .cs

Struct for encapsulating local surface window features. Attributes ---------- proj_win : NxN :obj:`numpy.ndarray` the window of d

Basic Block for resnet 18 and resnet 34.

Residual block for resnet over 50 layers.

Author: chenxi-wang Camera intrinsics for point cloud generation.

Abstract class for contact models.

Abstract grasp class. Attributes ---------- configuration : :obj:`numpy.ndarray` vector specifying the parameters of the grasp (e

Base wrapper class for parameters used in grasp quality computation. Used to elegantly enforce existence and type of required parameters. Att

Helper class to automatically create grasp quality configurations of different types.

Abstraction for grasp quality functions to make scripts for labeling with quality functions simple and readable. Attributes ----------

Encapsulates geometric structures for computing contact in grasping. Attributes ---------- sdf : :obj:`Sdf3D` signed distance fie

Abstract grasp class for grasps with a point contact model. Attributes ---------- configuration : :obj:`numpy.ndarray` vector spe

Class to wrap functions for quasistatic point grasp quality metrics.

Abstract class for signed distance fields.

A representation of a mesh's stable pose. Attributes ---------- p : float Probability associated with this stable pose. r : :

Defines a vacuum target point and axis in 3D space (5 DOF)

A directed acyclic graph specifying the topppling dependency structure for faces of a given mesh geometry with a specific center of ma

A directed graph vertex that links a probability to a face.

Object representation of a finite line segment in 3D space. Attributes ---------- p1 : :obj:`numpy.ndarray` of float