concepts.simulator.pybullet.manipulation_utils.grasping_samplers.LocalConvexificationGraspSampler#

class LocalConvexificationGraspSampler[source]#

Methods

Sample a grasp from the input point cloud, or mesh

Attributes

__init__(robot, gripper_size, gripper_gap, reachability_min_bound=None, reachability_max_bound=None, config=None, **kwargs)[source]#

Initialize the grasp generator.

Parameters:

robot (BulletArmRobotBase) – the robot instance.
gripper_size (float) – the size of the gripper (assumed to be a square contact surface).
gripper_gap (float) – the gap between the gripper fingers.
reachability_min_bound (ndarray | None) – the minimum bound of the reachable workspace. If specified, will be used to filter out grasps that are not reachable.
reachability_max_bound (ndarray | None) – the maximum bound of the reachable workspace. If specified, will be used to filter out grasps that are not reachable.
config (LocalConvexificationGraspGeneratorConfig | None)

sample_grasp(input_shape)#

Sample a grasp from the input point cloud, or mesh

Parameters:

input_pc – the input point cloud.
input_shape (ndarray | open3d.geometry.PointCloud | open3d.geometry.TriangleMesh)

Returns:

The sampled grasp.

Return type:

GraspReturn