pyrobosim.manipulation.grasping.GraspGenerator.generate

GraspGenerator.generate(object_dims, object_pose=Pose: [x=0.00, y=0.00, z=0.00, qw=1.000, qx=0.000, qy=-0.000, qz=0.000], robot_pose=None, top_grasps=True, front_grasps=True, side_grasps=True)

Generates a set of axis-aligned grasps for a cuboid object.

Parameters:

  • object_dims (list[float]) – List containing the object [x, y, z] dimensions

  • object_pose (pyrobosim.utils.pose.Pose, optional) – The pose of the object center, defaults to identity transform

  • robot_pose (pyrobosim.utils.pose.Pose, optional) – The pose of the robot. If none specified, it is not used in calculations.

  • top_grasps (bool, optional) – Enable top grasp generation, defaults to True

  • front_grasps (bool, optional) – Enable front grasp generation, defaults to True

  • side_grasps (bool, optional) – Enable side grasp generation, defaults to True

Returns:

A list of generated grasps

Return type:

list[pyrobosim.manipulation.grasping.Grasp]