pyrobosim.manipulation.grasping.Grasp.__init__

Grasp.__init__(properties, origin_wrt_object, origin_wrt_world=None, face=GraspFace.UNKNOWN, direction=GraspDirection.UNKNOWN)

Creates a grasp object instance.

Parameters:

• origin_wrt_object (pyrobosim.utils.pose.Pose) – Grasp origin pose, expressed with respect to the object

• origin_wrt_world (pyrobosim.utils.pose.Pose, optional) – Grasp origin pose, expressed with respect to the world

• properties (pyrobosim.manipulation.grasping.ParallelGraspProperties, optional) – Grasping properties object

• face (pyrobosim.manipulation.grasping.GraspFace, optional) – Enumeration denoting grasp face relative to object.

• direction (pyrobosim.manipulation.grasping.GraspDirection, optional) – Enumeration denoting grasp direction relative to object.