pyrobosim.manipulation.grasping.GraspGenerator.generate

GraspGenerator.generate(object_dims: list[float], object_pose: ~pyrobosim.utils.pose.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: ~pyrobosim.utils.pose.Pose | None = None, top_grasps: bool = True, front_grasps: bool = True, side_grasps: bool = True) → list[Grasp]

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

Parameters:

• object_dims – List containing the object [x, y, z] dimensions

• object_pose – The pose of the object center, defaults to identity transform

• robot_pose – The pose of the robot. If none specified, it is not used in calculations.

• top_grasps – Enable top grasp generation, defaults to True

• front_grasps – Enable front grasp generation, defaults to True

• side_grasps – Enable side grasp generation, defaults to True

Returns:

A list of generated grasps