folded
Folded
Bases: AbsoluteObjectState
, BooleanState
Source code in object_states/folded.py
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calculate_projection_area_and_diagonal(dims)
Calculate the projection area and the diagonal length when projecting to the plane defined by the input dims E.g. if dims is [0, 1], the points will be projected onto the x-y plane.
Parameters:
Name | Type | Description | Default |
---|---|---|---|
dims |
2-array
|
Global axes to project area onto. Options are {0, 1, 2}. E.g. if dims is [0, 1], project onto the x-y plane. |
required |
Returns:
Name | Type | Description |
---|---|---|
area |
float
|
Source code in object_states/folded.py
calculate_projection_area_and_diagonal_unfolded()
Calculate the maximum projection area and the diagonal length along different axes in the unfolded state. Should be called in the initialize function. Assume the object's default pose is unfolded.
Source code in object_states/folded.py
check_projection_area_and_diagonal()
Check whether the current projection area and diagonal length satisfy the thresholds
Source code in object_states/folded.py
check_smoothness()
Check the smoothness of the cloth; the face normals of the cloth need to be close to the z-axis.