(self,
               hand,
               arm,
               position,
               quaternion=base.DOWN_QUATERNION,
               ignore_collisions=False,
               max_ik_attempts=10,
               max_rejection_samples=10)
Initializes this ToolCenterPointInitializer.

    Args:
      hand: Either a `base.RobotHand` instance or None, in which case
        `arm.wrist_site` is used as the TCP site in place of
        `hand.tool_center_point`.
      arm: A `base.RobotArm` instance.
      position: A single fixed Cartesian position, or a `Variation`
        object that generates Cartesian positions. If a fixed sequence of
        positions for multiple props is desired, use
        `variation.deterministic.Sequence`.
      quaternion: (optional) A single fixed unit quaternion, or a
        `composer.Variation` object that generates unit quaternions. If a fixed
        sequence of quaternions for ultiple props is desired, use
        `variation.deterministic.Sequence`.
      ignore_collisions: (optional) If True all collisions are ignored, i.e.
        rejection sampling is disabled.
      max_ik_attempts: (optional) Maximum number of attempts for the inverse
        kinematics solver to find a solution satisfying `target_pos` and
        `target_quat`. These are attempts per rejection sample. If more than
        one attempt is performed, the joint configuration will be randomized
        before the second trial. To avoid randomizing joint positions, set this
        parameter to 1.
      max_rejection_samples (optional): Maximum number of TCP target poses to
        sample while attempting to find a non-colliding configuration. For each
        sampled pose, up to `max_ik_attempts` may be performed in order to find
        an IK solution satisfying this pose.
Initializes this ToolCenterPointInitializer.
Initializes this ToolCenterPointInitializer .
def __init__(self,
               hand,
               arm,
               position,
               quaternion=base.DOWN_QUATERNION,
               ignore_collisions=False,
               max_ik_attempts=10,
               max_rejection_samples=10):
    """Initializes this ToolCenterPointInitializer.

    Args:
      hand: Either a `base.RobotHand` instance or None, in which case
        `arm.wrist_site` is used as the TCP site in place of
        `hand.tool_center_point`.
      arm: A `base.RobotArm` instance.
      position: A single fixed Cartesian position, or a `Variation`
        object that generates Cartesian positions. If a fixed sequence of
        positions for multiple props is desired, use
        `variation.deterministic.Sequence`.
      quaternion: (optional) A single fixed unit quaternion, or a
        `composer.Variation` object that generates unit quaternions. If a fixed
        sequence of quaternions for ultiple props is desired, use
        `variation.deterministic.Sequence`.
      ignore_collisions: (optional) If True all collisions are ignored, i.e.
        rejection sampling is disabled.
      max_ik_attempts: (optional) Maximum number of attempts for the inverse
        kinematics solver to find a solution satisfying `target_pos` and
        `target_quat`. These are attempts per rejection sample. If more than
        one attempt is performed, the joint configuration will be randomized
        before the second trial. To avoid randomizing joint positions, set this
        parameter to 1.
      max_rejection_samples (optional): Maximum number of TCP target poses to
        sample while attempting to find a non-colliding configuration. For each
        sampled pose, up to `max_ik_attempts` may be performed in order to find
        an IK solution satisfying this pose.
    """
    super().__init__()
    self._arm = arm
    self._hand = hand
    self._position = position
    self._quaternion = quaternion
    self._ignore_collisions = ignore_collisions
    self._max_ik_attempts = max_ik_attempts
    self._max_rejection_samples = max_rejection_samples
def __init__ ( self , hand , arm , position , quaternion = base . DOWN_QUATERNION , ignore_collisions = False , max_ik_attempts = 10 , max_rejection_samples = 10 ) : super ( ) . __init__ ( ) self . _arm = arm self . _hand = hand self . _position = position self . _quaternion = quaternion self . _ignore_collisions = ignore_collisions self . _max_ik_attempts = max_ik_attempts self . _max_rejection_samples = max_rejection_samples