grasp_closeness

grasp_closeness#

Classes#

`GraspCloseness`	How close a grasp is to where the robot stands: a grasp nearer by horizontal
`GraspsByCloseness`	The grasps an object offers, ordered by their `GraspCloseness` to a standing

Module Contents#

class grasp_closeness.GraspCloseness#

How close a grasp is to where the robot stands: a grasp nearer by horizontal distance is closer, and of two equally near grasps the one approached more directly from the standing position is.

horizontal_distance: float#: The horizontal distance from the standing position to the grasp, in meters.

approach_angle: float#: The angle between the direction the grasp is approached along and the direction from the standing position to it, in radians.

classmethod from_grasp(grasp: semantic_digital_twin.grasping.grasp_candidates.GraspCandidate, world_T_object: numpy.typing.NDArray[numpy.float64], world_P_standing: numpy.typing.NDArray[numpy.float64]) → GraspCloseness#

Parameters:

grasp – A grasp on the object.
world_T_object – The object’s root frame in the world frame.
world_P_standing – Where the robot stands, as a homogeneous point in the world frame.

Returns:

How close grasp is to the standing position.

class grasp_closeness.GraspsByCloseness#

Bases: krrood.entity_query_language.predicate.SymbolicFunction

The grasps an object offers, ordered by their GraspCloseness to a standing position, the closest first, and at most number_of_grasps of them.

graspable: semantic_digital_twin.semantic_annotations.mixins.HasGraspCandidates#: The object offering the grasps.

standing_position: krrood_spatial_math.spatial_types.Pose#: Where the robot stands while taking one of the grasps, read when the grasps are ranked, so a pose relative to the robot is where the robot stands then.

number_of_grasps: int | None = 3#: How many of the closest grasps are kept, all of them if None.

__call__() → list[semantic_digital_twin.grasping.grasp_candidates.GraspCandidate]#: Compute the value for the supplied arguments.

classmethod _verbalization_fragment_(fields: krrood.entity_query_language.predicate.RenderedFields) → krrood.entity_query_language.verbalization.fragments.base.VerbalizationFragment#

Parameters:: fields – The rendered fragment for each field.
Returns:: The noun phrase “the grasps by closeness of <graspable> and <standing position>”.