pollen_grasping_utils

A collection of utility functions and launch helpers for working with grasp poses in ROS 2, specifically tailored for use with Reachy and other Pollen Robotics applications.

Features

🧠 Grasp Pose Utilities

• Generate GraspPose messages from:
  • Euler angles
  • Quaternions
  • Homogeneous transformation matrices
• Create corresponding Pose messages using the same formats

🎯 Visualization Tools

• Build RViz markers for visualizing grasp poses as fork-like grippers
• Customize color, size, orientation, and lifetime of markers

⚙️ Config Management

• Load grasping configuration files (.yaml) from the config/ directory
• Integrate with ROS 2 launch files via DeclareLaunchArgument
• Pretty-print loaded configurations for clarity during debug/logging

Usage

Import and use in your own ROS 2 nodes:

from pollen_grasping_utils import get_grasp_marker, get_pose_msg_from_euler, get_grasp_pose_msg_from_quaternion

Launch integration:

from pollen_grasping_utils.config import get_grasping_config_launch_argument, load_grasping_config

Configuration

Place your .yaml grasp configuration files in pollen_grasping_utils/config/.

At launch, use the grasping_config argument to select which config file to load:

ros2 launch your_package your_launch_file.launch.py grasping_config:=custom_grasp_config