pyrobosim.manipulation.grasping.GraspGenerator.should_try_grasp

GraspGenerator.should_try_grasp(faces_enabled: Sequence[bool], face_normals: Sequence[ndarray], face_vec: ndarray) → tuple[bool, GraspFace]

Helper function to validate whether to compute grasps on a specific face.

Given the set of enabled grasp types, and the normal vectors of the cuboid faces, this function determines whether grasping along a specific normal vector is permitted. For example, if

• Only top and front grasps are enabled

• The top face normal vector is [0, 0, 1]

• The front face normal vector is [-1, 0, 0]

Then this function will

• Allow grasps along the vectors [0, 0, 1] and [-1, 0, 0] because these are the top and front faces

• Disallow a grasp along the vectors [0, 1, 0] and [0, -1, 0] because side grasps are disabled

• Disallow a grasp along the vector [1, 0, 0] because this would be a back grasp which is not supported

Parameters:

• faces_enabled – Faces for which grasp generation is enabled, in the form (front, top, side)

• face_normals – Face normals in the canonical directions, in the form (front, top, left, right)

• face_vec – Normal vector of the cuboid face to check.

Returns:

A tuple determining whether the grasp should be attempted, and what face that corresponds to