Пример #1
0
    def grasp(self, obj: Object) -> bool:
        """Grasp object if it is detected.

        Note: The does not actuate the gripper, but instead simply attaches the
        detected object to the gripper to 'fake' a grasp.

        :param obj: The object to grasp if detected.
        :return: True if the object was detected/grasped.
        """
        detected = self._proximity_sensor.is_detected(obj)
        if detected:
            self._grasped_objects.append(obj)
            self._old_parents.append(obj.get_parent())
            obj.set_parent(self._attach_point, keep_in_place=True)
        return detected
Пример #2
0
    def grasp(self, obj: Object) -> bool:
        """Attach the object to the suction cup if it is detected.

        Note: The does not move the object up to the suction cup. Therefore, the
        proximity sensor should have a short range in order for the suction
        grasp to look realistic.

        :param obj: The object to grasp if detected.
        :return: True if the object was detected/grasped.
        """
        detected = self._proximity_sensor.is_detected(obj)
        # Check if detected and that we are not already grasping it.
        if detected and obj not in self._grasped_objects:
            self._grasped_objects.append(obj)
            self._old_parents.append(obj.get_parent())  # type: ignore
            obj.set_parent(self._attach_point, keep_in_place=True)
        return detected