OpenRAVE Documentation

Grasper Module

class openravepy.interfaces.Grasper.Grasper(robot, friction=0.29999999999999999, avoidlinks=[], plannername=None)[source]

Interface wrapper for Grasper - grasper

ConvexHull(points, returnplanes=True, returnfaces=True, returntriangles=True)[source]

See ConvexHull

Grasp(direction=None, roll=None, position=None, standoff=None, target=None, stablecontacts=False, forceclosure=False, transformrobot=True, onlycontacttarget=True, tightgrasp=False, graspingnoise=None, execute=None, translationstepmult=None, outputfinal=False, manipulatordirection=None, finestep=None)[source]

See Grasp

GraspThreaded(approachrays, standoffs, preshapes, rolls, manipulatordirections=None, target=None, transformrobot=True, onlycontacttarget=True, tightgrasp=False, graspingnoise=None, forceclosurethreshold=None, collisionchecker=None, translationstepmult=None, numthreads=None, startindex=None, maxgrasps=None, finestep=None)[source]

See GraspThreaded

clone(envother)[source]

Clones the interface into another environment

openravepy.interfaces.Grasper.RaveCreateModule((Environment)env, (str)name) → Module :

OPENRAVE_API ModuleBasePtr RaveCreateModule(EnvironmentBasePtr penv, const std::string & name)

openravepy.interfaces.Grasper.RaveCreateTrajectory((Environment)env, (str)name) → Trajectory :

OPENRAVE_API TrajectoryBasePtr RaveCreateTrajectory(EnvironmentBasePtr penv, const std::string & name = “” )

Return an empty trajectory instance.
openravepy.interfaces.Grasper.matrixFromPose((object)pose) → object :

Converts a 7 element quaterion+translation transform to a 4x4 matrix.

Parameters:pose – 7 values
openravepy.interfaces.Grasper.matrixSerialization((object)transform) → str :

Serializes a transformation into a string representing a 3x4 matrix.

Parameters:transform – 3x4 or 4x4 array

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