pyrobosim.manipulation.grasping.Grasp

class pyrobosim.manipulation.grasping.Grasp(properties: ParallelGraspProperties, origin_wrt_object: Pose, origin_wrt_world: Pose | None = None, face: GraspFace = GraspFace.UNKNOWN, direction: GraspDirection = GraspDirection.UNKNOWN)

Representation of an object grasp.

Methods

__init__(properties, origin_wrt_object[, ...])	Creates a grasp object instance.
plot(ax, color[, alpha])	Displays the grasp on an existing set of axes.
translate_origin(vec)	Adds the origin position to a specified position vector.