Grasp generator issue

[ron007d]

Hi all I have been trying to understand the grasp generator. Trying to grasp a box using # finger gripper but getting this grasp generations :point_down:

where I want this grasp generation to get generated and executed :point_down: , Some time its generated successfully and working but sometime its generating :point_up: this and executing. for which its not able to grab the object correctly in simulation.

python code used for generating grasps

grasp_generator = stages.GenerateGraspPose("Generate Grasp Pose")
grasp_generator.angle_delta = 1.5708
grasp_generator.pregrasp = "open"
grasp_generator.grasp = "close"
grasp_generator.setMonitoredStage(task["current"]) 
grasp_generator.object = object_name

Thanks

[rhaschke]

The GenerateGraspPose stage just creates Cartesian poses around the object's frame by rotating about the z-axis by default. Additionally some properties, like pregrasp and grasp posture for fingers are set, which can be used by neighbouring stages to actually actuate the fingers.

[ron007d]

Thanks @rhaschke I will check it out, first I thought it was issue with the object size but then its showed the same for bigger object,

there was a python doc for moveit task constructor, but it was showing 404, can you help me with the link for that page ?

[rhaschke]

The docs are available here: https://moveit.github.io/moveit_task_constructor/api.html

[ron007d]

I figured out that jupyter notebook don't have the sourced directory thus it was not able to get the model info, now its fetching error on certain grasp,

• added gripper group name in grasp
• added object name in grasp
• added source ...devel.bash info the jupyter server.