pybullet_planning.interfaces.task_modeling.end_effector_from_body

pybullet_planning.interfaces.task_modeling.end_effector_from_body(body_pose, grasp_pose)[source]

get world_from_gripper from the target brick’s pose and the grasp pose

world_from_child * (parent_from_child)^(-1) = world_from_parent (parent: gripper, child: body to be grasped) world_from_gripper = world_from_block * block_from_gripper

= world_from_block * invert(gripper_from_block)

Parameters

  • body_pose (Pose) – world_from_body

  • grasp_pose (Pose) – gripper_from_body, the body’s pose in gripper’s frame

Returns

Pose – world_from_gripper