Backend interfaces

Transport-neutral protocols implemented by replaceable planning backends.

Protocols

Internal Python interfaces implemented by planning backends.

class GraspPlanner(*args, **kwargs)

Generates grasp candidates for one or more grippers.

An empty result.grasps mapping means that no candidate was found. Confidence values are backend-specific and are not assumed to be comparable across grippers; cross-gripper selection belongs to the caller.

plan_grasps(request: GraspPlanningRequest) → GraspPlanningResult

class GraspCollisionChecker(*args, **kwargs)

Optionally checks grasp candidates against object and scene geometry.

The call returns one result for every candidate or raises an exception.

check_grasp_collisions(request: GraspCollisionCheckRequest) → tuple[GraspCollisionResult, ...]

class MotionPlanner(*args, **kwargs)

Plans one selected grasp.

None means that no feasible motion was found. Technical failures are raised as exceptions.

plan_motion(request: MotionPlanningRequest) → MotionPlan | None