pyrobosim.manipulation.grasping.GraspGenerator.show_grasps

GraspGenerator.show_grasps(object_dims, grasps, 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, object_footprint=None)

Display the grasps on top of an object.

Parameters:

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

  • grasps (list[pyrobosim.manipulation.grasping.Grasp]) – A list of grasps

  • 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.

  • object_footprint (numpy.ndarray, optional) – Optional N-by-2 array of the object footprint points to overlay