concepts.dm.crowhat.manipulation_utils.pick_place_sampler.calc_grasp_approach_ee_pose_trajectory

calc_grasp_approach_ee_pose_trajectory(grasp_parameter, pregrasp_distance=0.1)

Given the name of the object, the grasp pose, generate a trajectory of 6D poses that the robot should follow to grasp the object.

Parameters:

• grasp_parameter (GraspParameter)

• pregrasp_distance (float)

Return type:

List[Tuple[ndarray, ndarray]]