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__ |
Constructor. | |
def | waitrobot |
Wait for robot to complete action. | |
def | graspObject |
Grasps an object. | |
Public Attributes | |
envreal | |
environment to be used | |
robot | |
robot to be used | |
target | |
target to be used | |
gmodel | |
grasping model for given robot and target | |
taskmanip | |
taskmanipulation problem/module | |
trajdata | |
stored trajectory for planned path |
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.
def graspplanning::GraspPlanner::__init__ | ( | self, | |
robot, | |||
target | |||
) |
Constructor.
robot | the robot to be used for planning. |
target | the target KinBody. |
Definition at line 39 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 74 of file graspplanning.py.
def graspplanning::GraspPlanner::waitrobot | ( | self, | |
robot = None |
|||
) |
Wait for robot to complete action.
robot | The robot to be checked. |
Definition at line 63 of file graspplanning.py.
References robot.
environment to be used
Definition at line 40 of file graspplanning.py.
grasping model for given robot and target
Definition at line 43 of file graspplanning.py.
target to be used
Definition at line 42 of file graspplanning.py.
taskmanipulation problem/module
Definition at line 75 of file graspplanning.py.
stored trajectory for planned path
Definition at line 76 of file graspplanning.py.