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tutorials:intermediate:new_actions [2019/01/02 16:19] – [Get-trajectory] vanessatutorials:intermediate:new_actions [2019/01/02 16:20] – [Get-trajectory] vanessa
Line 228: Line 228:
  
 <code lisp> <code lisp>
 +;;cram_common/cram_manipulation_interfaces/src/trajectories.lis
 (defgeneric get-object-grasping-poses (object-name object-type arm grasp object-transform) (defgeneric get-object-grasping-poses (object-name object-type arm grasp object-transform)
   (:documentation "Returns a list of (pregrasp-pose 2nd-pregrasp-pose grasp-pose lift-pose)")   (:documentation "Returns a list of (pregrasp-pose 2nd-pregrasp-pose grasp-pose lift-pose)")