pyrobosim.manipulation.grasping.GraspGenerator
- class pyrobosim.manipulation.grasping.GraspGenerator(properties)
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[, ...])Display the grasps on top of an object.