pyrobosim.manipulation.grasping.Grasp.__init__

Grasp.__init__(properties: ParallelGraspProperties, origin_wrt_object: Pose, origin_wrt_world: Pose | None = None, face: GraspFace = GraspFace.UNKNOWN, direction: GraspDirection = GraspDirection.UNKNOWN) → None

Creates a grasp object instance.

Parameters:

• properties – The parallel grasp properties to use.

• origin_wrt_object – Grasp origin pose, expressed with respect to the object

• origin_wrt_world – Grasp origin pose, expressed with respect to the world

• face – Enumeration denoting grasp face relative to object.

• direction – Enumeration denoting grasp direction relative to object.