pycram.datastructures.grasp

pycram.datastructures.grasp#

Classes#

GraspDescription

Represents a grasp description with a side grasp, top face, and orientation alignment.

PreferredGraspAlignment

Description of the preferred grasp alignment for an object.

Module Contents#

class pycram.datastructures.grasp.GraspDescription#

Bases: pycram.has_parameters.HasParameters

Represents a grasp description with a side grasp, top face, and orientation alignment.

approach_direction: pycram.datastructures.enums.Grasp#

The primary approach direction. Must be one of {Grasp.FRONT, Grasp.BACK, Grasp.LEFT, Grasp.RIGHT}.

vertical_alignment: typing_extensions.Optional[pycram.datastructures.enums.Grasp] = None#

The vertical alignment when grasping the pose, or None if not applicable. Must be one of {Grasp.TOP, Grasp.BOTTOM, None}.

rotate_gripper: bool = False#

Indicates if the gripper should be rotated by 90°. Must be a boolean.

__post_init__()#
__hash__()#
as_list() → typing_extensions.List[typing_extensions.Union[pycram.datastructures.enums.Grasp, typing_extensions.Optional[pycram.datastructures.enums.Grasp], bool]]#
Returns:

A list representation of the grasp description.

class pycram.datastructures.grasp.PreferredGraspAlignment#

Description of the preferred grasp alignment for an object.

preferred_axis: typing_extensions.Optional[pycram.datastructures.enums.AxisIdentifier]#

The preferred axis, X, Y, or Z, for grasping the object, or None if not specified.

with_vertical_alignment: bool#

Indicates if the object should be grasped with a vertical alignment.

with_rotated_gripper: bool#

Indicates if the gripper should be rotated by 90° around X.

Contents