primitives
These modules are transported from kuka_primitives, pr2_primitives and pr2_utils from ss-pybullet.
Grasp
In pybullet_planning, a grasp is modeled as an operator on the object frame, i.e.
world_from_object = world_from_gripper * grasp, where grasp = gripper_from_object.
We provide some simple grasp generator based on bounding geometry (box, cylinder). Inside these
generators’ implementation, however, the modeling start from the object frame to the gripper’s
frame to obtain object_from_gripper and then we return its inverse gripper_from_object.
(Yijiang thinks this is more straightforward to think about.)
generate side grasp using the body’s bounding cylinder. |
Convenient classes
a convenient class for creating and manipulating an end effector |