concepts.dm.crowhat.manipulation_utils.path_generation_utils.calc_grasp_pose_from_current_object_pose_and_ee_pose

calc_grasp_pose_from_current_object_pose_and_ee_pose(robot, object_id, ee_pos, ee_dir=(0., 0., -1.), ee_dir2=(1., 0., 0.))

Compute the grasp pose from the current object pose and the desired ee pose.

Parameters:

• robot (SingleArmMotionPlanningInterface) – the robot.

• object_id (int) – the object id.

• ee_pos (Tuple[float, float, float] | List[float] | ndarray) – the desired ee position.

• ee_dir (Tuple[float, float, float] | List[float] | ndarray) – the desired ee direction.

• ee_dir2 (Tuple[float, float, float] | List[float] | ndarray) – the desired ee direction 2.

Return type:

Tuple[Tuple[float, float, float] | List[float] | ndarray, Tuple[float, float, float, float] | List[float] | ndarray]