pyrobosim.planning.pddlstream.primitives.sample_grasp_pose

pyrobosim.planning.pddlstream.primitives.sample_grasp_pose(grasp_gen, obj, p_obj, p_robot, front_grasps=True, top_grasps=True, side_grasps=False)

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

Parameters:

• grasp_gen (Planner) – Grasp generator object

• obj (pyrobosim.core.objects.Object) – Target object

• p_obj (pyrobosim.utils.pose.Pose) – Object pose.

• p_robot (pyrobosim.utils.pose.Pose) – Robot pose.

• front_grasps (bool, optional) – Enable front grasps

• top_grasps (bool, optional) – Enable top grasps

• side_grasps (bool, optional) – Enable side grasps

Returns:

Generator yielding tuple containing a grasp

Return type:

generator[tuple[pyrobosim.manipulation.grasping.Grasp]]