Provides methods for grasp planning purposes. More...


class  GraspingManager
 The GraspingManager class. More...

Detailed Description

Provides methods for grasp planning purposes.

The GraspingManager implements a grasping pipeline containing the following stages (each stage is implemented by the respective Component in the parathesis):

The stages are executed sequentially. The Input for the grasping pipeline is a graspable object. The output contains trajectories in configuration and pose space to execute a grasp for the given object.

The GraspingManager requires the following properties:

The Armar3Simulation scenario must be active before running the GraspingManager scenario.