pyrobosim.manipulation.grasping.GraspGenerator

class pyrobosim.manipulation.grasping.GraspGenerator(properties: ParallelGraspProperties)

Generates grasps given object dimensions and pose relative to a robot.

Methods

__init__(properties)	Creates a grasp generator instance given grasping properties.
compute_robot_facing_rot(object_pose[, y, ...])	Computes the rotation matrix to convert from nominal cuboid orientation to robot-facing orientation.
generate(object_dims, object_pose[, y, z, ...])	Generates a set of axis-aligned grasps for a cuboid object.
should_try_grasp(faces_enabled, ...)	Helper function to validate whether to compute grasps on a specific face.
show_grasps(object_dims, grasps, object_pose)	Display the grasps on top of an object.
to_dict()	Serializes the grasp generator to a dictionary.