Grasp-candidate collision checking

Requests and results for checking grasp candidates against object and scene geometry.

Messages

Input and result types for optional grasp-candidate collision checking.

GraspCollisionCheckRequest[source]

Grasp candidates and world geometry to check.

Fields:

  • object (GraspObject)

  • transform_world_object (Matrix4)

  • scene (Scene)

  • candidates (tuple[GraspCandidate, ...])

GraspCollisionResult[source]

Collision result for one grasp candidate.

Fields:

  • candidate_id (str)

  • collision_free (bool)