grasper_main

Main CLI/API file

Author:

Lukas Rustler

pybullet_grasper.grasper_main.main(config_name: str, object_name: str, ROS: bool = False, service: bool = False, save_path: str | None = None) → None | GenerateGraspsResponse[source]

Runs the grasp generator either through ROS service client or direct API call.

Parameters:

  • config_name (str) – configuration file name or path

  • object_name (str) – object mesh name or path

  • ROS (bool, optional, default=False) – whether ROS node mode is enabled

  • service (bool, optional, default=False) – whether to call the ROS service instead of direct execution

  • save_path (str | None, optional, default=None) – path where to save grasp result. If None -> do not save

Returns:

result

Return type:

None | GenerateGraspsResponse

pybullet_grasper.grasper_main.prepare_parser() → Tuple[bool, bool, str, str, str | None][source]

Parses CLI arguments for ROS/service/object/config options.

Returns:

tuple with ROS flag, service flag, config name, and object name

Return type:

tuple[bool, bool, str, str]