Fawkes API  Fawkes Development Version
graspplanning.GraspPlanner Class Reference

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...
 

Detailed Description

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 33 of file graspplanning.py.

Constructor & Destructor Documentation

◆ __init__()

def graspplanning.GraspPlanner.__init__ (   self,
  robot,
  target 
)

Constructor.

Parameters
robotthe robot to be used for planning.
targetthe target KinBody.

Definition at line 39 of file graspplanning.py.

Member Function Documentation

◆ graspObject()

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.

Returns
graspindex if successfull, -1 if failed to find valid grasp

Definition at line 74 of file graspplanning.py.

References graspplanning.GraspPlanner.envreal, graspplanning.GraspPlanner.gmodel, and graspplanning.GraspPlanner.robot.

◆ waitrobot()

def graspplanning.GraspPlanner.waitrobot (   self,
  robot = None 
)

Wait for robot to complete action.

Parameters
robotThe robot to be checked.
Returns
void

Definition at line 63 of file graspplanning.py.

References graspplanning.GraspPlanner.robot.

Member Data Documentation

◆ envreal

graspplanning.GraspPlanner.envreal

environment to be used

Definition at line 41 of file graspplanning.py.

Referenced by graspplanning.GraspPlanner.graspObject().

◆ gmodel

graspplanning.GraspPlanner.gmodel

grasping model for given robot and target

Definition at line 58 of file graspplanning.py.

Referenced by graspplanning.GraspPlanner.graspObject().

◆ robot

graspplanning.GraspPlanner.robot

robot to be used

Definition at line 44 of file graspplanning.py.

Referenced by graspplanning.GraspPlanner.graspObject(), and graspplanning.GraspPlanner.waitrobot().

◆ target

graspplanning.GraspPlanner.target

target to be used

Definition at line 47 of file graspplanning.py.

◆ taskmanip

graspplanning.GraspPlanner.taskmanip

taskmanipulation problem/module

Definition at line 82 of file graspplanning.py.

◆ trajdata

graspplanning.GraspPlanner.trajdata

stored trajectory for planned path

Definition at line 95 of file graspplanning.py.


The documentation for this class was generated from the following file: