pyrobosim.planning.pddlstream.primitives.sample_grasp_pose

pyrobosim.planning.pddlstream.primitives.sample_grasp_pose(grasp_gen: GraspGenerator, obj: Object, p_obj: Pose, p_robot: Pose, front_grasps: bool = True, top_grasps: bool = True, side_grasps: bool = False) → Generator[tuple[Grasp], None, None]

Samples feasible grasps for an object given its pose and the relative robot pose.

Parameters:

• grasp_gen – Grasp generator object

• obj – Target object

• p_obj – Object pose.

• p_robot – Robot pose.

• front_grasps – Enable front grasps

• top_grasps – Enable top grasps

• side_grasps – Enable side grasps

Returns:

Generator yielding tuple containing a grasp