Fawkes API
Fawkes Development Version
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Class to plan a grasp for a given robot and target. More...
Public Member Functions | |
def | __init__ (self, robot, target) |
Constructor. More... | |
def | waitrobot (self, robot=None) |
Wait for robot to complete action. More... | |
def | graspObject (self) |
Grasps an object. More... | |
Public Attributes | |
envreal | |
environment to be used More... | |
robot | |
robot to be used More... | |
target | |
target to be used More... | |
gmodel | |
grasping model for given robot and target More... | |
taskmanip | |
taskmanipulation problem/module More... | |
trajdata | |
stored trajectory for planned path More... | |
Class to plan a grasp for a given robot and target.
This class loads a pregenerated grasping database and can use those grasps to find a valid grasp for the given target, and calculate a collision-free path for the arm to move to a grasping position.
Definition at line 32 of file graspplanning.py.
def graspplanning.GraspPlanner.__init__ | ( | self, | |
robot, | |||
target | |||
) |
Constructor.
robot | the robot to be used for planning. |
target | the target KinBody. |
Definition at line 38 of file graspplanning.py.
def graspplanning.GraspPlanner.graspObject | ( | self | ) |
Grasps an object.
This version returns the first valid grasp found. Should be tweaked in later versions, as the first valid grasp might be at the bottom of the target instead of the middle, which would be preferred.
Definition at line 73 of file graspplanning.py.
References graspplanning.GraspPlanner.envreal, graspplanning.GraspPlanner.gmodel, and graspplanning.GraspPlanner.robot.
def graspplanning.GraspPlanner.waitrobot | ( | self, | |
robot = None |
|||
) |
Wait for robot to complete action.
robot | The robot to be checked. |
Definition at line 62 of file graspplanning.py.
References graspplanning.GraspPlanner.robot.
graspplanning.GraspPlanner.envreal |
environment to be used
Definition at line 40 of file graspplanning.py.
Referenced by graspplanning.GraspPlanner.graspObject().
graspplanning.GraspPlanner.gmodel |
grasping model for given robot and target
Definition at line 57 of file graspplanning.py.
Referenced by graspplanning.GraspPlanner.graspObject().
graspplanning.GraspPlanner.robot |
robot to be used
Definition at line 43 of file graspplanning.py.
Referenced by graspplanning.GraspPlanner.graspObject(), and graspplanning.GraspPlanner.waitrobot().
graspplanning.GraspPlanner.target |
target to be used
Definition at line 46 of file graspplanning.py.
graspplanning.GraspPlanner.taskmanip |
taskmanipulation problem/module
Definition at line 81 of file graspplanning.py.
graspplanning.GraspPlanner.trajdata |
stored trajectory for planned path
Definition at line 94 of file graspplanning.py.