pyrobosim.manipulation.grasping.GraspGenerator.show_grasps

GraspGenerator.show_grasps(object_dims: list[float], grasps: list[~pyrobosim.manipulation.grasping.Grasp], 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, object_footprint: ~numpy.ndarray | None = None) → None

Display the grasps on top of an object.

Parameters:

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

• grasps – A list of grasps

• 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.

• object_footprint – Optional N-by-2 array of the object footprint points to overlay