The attempted grasp.

Whether the grasp successfully picked up an object.

The axis to filter grasp poses by, in the base frame of the object. Grasp poses are filtered out if the Z-axis of the grasp pose is not aligned and in the same direction as the axis.

The angle tolerance in radians to filter grasp poses. The default value is 0.01 radians.

Maximum number of grasps to return.

Grasp frame z-axis offset in its positive direction. Used to locally adjust the grasp point. E.g., 0.02 means grasp is 2cm further along the z-axis (usually means it's 2cm deeper into the object or closer to the object).

The distance between grasp and pregrasp frames.

This is the product name defined in the product document (also see product_utils.create_object_from_product.) It is used as the object_category to be grasped, and for obtaining object specific parameters in plan_grasp_constants.

The tool frame to use for the grasp.

The robot to perform this grasp.

Ranker specific parameters.

Use this to specify target picking zone and perform zone-based grasp planning. This is only used if objects is empty

Adapter specific parameters.

The maximum number of recently executed grasps to consider in planning.

Only select grasp poses outside the box, defaults to false.

Dimensions of the box shaped object in its x, y, z axes. Used to compute grasp poses with respect to the target object.

The pose of object's center in its mesh frame. Useful when the mesh frame isn't at the center of the box. Used to compute grasp poses with respect to the target object. Defaults to the identity pose.

Number of grasps to add on each surface. These are grasp poses at the center position of a surface, rotated around the z-axis, evenly spread in 360 degrees. E.g., if num_rotations=6, then the grasps are 60 degree rotations around z-axis. Used to compute grasp poses with respect to the target object. Defaults to 4.

The object surfaces to which to add grasps. Defaults to all surfaces if unspecified or empty. Used to compute grasp poses with respect to the target object. 0 for the surface that intersects the x-axis positive axis; 1 for the surface that intersects the x-axis negative axis; 2 for y-axis positive axis; 3 for y-axis negative axis, 4 for z-axis positive, 5 for z-axis negative.

Scene ID if this grasp plan is computed from a perception scene.

The score to return if a grasp is too close to a recently failed grasp. Defaults to 0.001 when unspecified. Set this to 0 will effectively cause the grasp to be filtered.

The translation distance used to decide whether a grasp G1 is too close to a grasp G2 in target_grasps. If dist(G1,G2) < distance_threshold, return a score of min_score. Defaults to 0.01.

Similar to distance_threshold, but only used to check the distance in the z axis. dist(G1_z, G2_z)) < distance_threshold_z must be true for returning min_score for a grasp. Defaults to +inf.

Name of the ranker. Default to diversity_grasp_ranker.

FingerGrasp specific

Max force.

The score of the grasp. Range: [0, 1]. A higher score means a higher probability of execution success.

The name of the target object to grasp in the world.

Confidence of detection, in range [0, 1].

Parameters for top-down adapter.

The bounding box to filter grasp poses, in base frame of the object.

Axis constraint to filter grasp poses.

Trajectory to move from starting position to pregrasp position/pose. If unspecified, then traj_to_grasp moves from starting position to grasp position/pose via pregrasp position/pose in a single trajectory.

If traj_to_pregrasp is specified, then this trajectory moves from pregrasp position/pose to grasp position/pose; otherwise this moves from start to grasp via pregrasp in a single trajectory.

Trajectory to move from grasp position to post position/pose.

The robot to execute a grasp.

The timeout in second for the path planning. If not set, use default value set in MotionPlannerService.

If True, the robot moves from starting position to grasp position via pregrasp position in a single trajectory. Default to False.

The path constraints applied to the motion segment from start to the pregrasp pose.

The path constraints applied to the motion segment from the pregrasp pose to the grasp pose.

The path constraints applied to the motion segment from the grasp pose to the postgrasp pose.

The DynamicCartesianLimits applied to the motion segment from start to the pregrasp pose.

The DynamicCartesianLimits applied to the motion segment from the pregrasp pose to the grasp pose.

The DynamicCartesianLimits applied to the motion segment from the grasp pose to the postgrasp pose.

DEPRECATED: Use collision_excluded_eoat_parts instead. If specified, ignore collisions between the given EOAT (end-of-arm tool) and the target object at grasp pose. This isn't part of the path constraints because the target object is often unknown at construction time.

If specified, ignore collisions between the given EOAT (end-of-arm tool) parts and the target object at grasp pose. This isn't part of the path constraints because the target object is often unknown at construction time.

The ID of the grasp that we were asked to plan for.

The total time took to plan this grasp execution.

Message to give more details to this grasp execution planning.

The actual plan if planning is successful.

Cause of planning failure.

Optional debug information.

Parameters for height based ranker.

Parameters for IK-collision checker.

Parameters for visibility based ranker.

Parameters for TopDownGraspRanker.

Parameters for StraightLineChecker.

Weights for the rankers. Weight values have to be non-negative. If the map is empty and a visibility ranker is used, then the visibility ranker's weight is set to 10, and others set to 1; if the map is empty and no visibility rankers are used, then all weights are 1.

Parameters for diversity grasp ranker.

Minimum expected height (in meters) of an object when grasping, expressed in root frame.

Maximum expected height (in meters) of an object when grasping, expressed in root frame.

Name of the ranker. Default to height_grasp_ranker.

Score range between 0.0 and 1.0.

Joint limits used in grasp/pregrasp pose IK checks.

Whether to check collisions at grasp pose. On top of this, if collision_excluded_eoat_parts is specified, then collisions are ignored between the eoat parts and the target object at grasp pose.

Whether to require grasp pose to have same kinematic branch as starting robot joint positions.

Passed to MotionPlannerClient.compute_ik. This has to be 1 if require_same_branch_ik is set to True.

Name of the ranker. Default to ik_collision_checker.

DEPRECATED: Use collision_excluded_eoat_parts instead. Name of the EOAT (end-of-arm tool) to allow collision with the target object at grasp pose. If None, no effect.

Reference(s) to EOAT (end-of-arm tool) parts to allow collision with the target object at grasp pose. Has no effect if unspecified.

The reference frame pose in the object frame. E.g., this can be the object center frame. If unspecified, use the object frame as the reference frame.

The annotation pose in the object frame.

Number of rotations to add at this annotation around its z-axis, evenly spread in 360 degrees. E.g., if num_rotations=6, then the poses are 60 degree rotations around z-axis of the annotation pose. Defaults to 1.

Score of this grasp annotation that reflects the preference of picking locations. E.g., a surface center pose might have a higher score than a pose near an edge, since center grasps are more stable. Default value: 1.0.

The mesh data as bytes.

The file type of the mesh bytes, e.g.: "glb", "obj", "stl".

The triangle mesh with of the part with both faces and vertices specified within. The expectation is three dimensional vertices and triangles for the faces. Specified in row major order.

The path to a mesh.

The mesh bytes with the file type.

The weight of the distance to center of mass metric. When unspecified, the metric is not used for scoring annotation.

The weight of the distance to bounding box corner metric. When unspecified, the metric is not used for scoring annotation.

The maximum opening radius of the gripper in meters.

The minimum closing radius of the gripper in meters, must be less than the opening radius.

The length of the gripper fingers in meters.

The thickness of fingers in meters, defaults to 0.01 meters.

The number of rotations to search for grasp annotations. The default value is 8.

Minimum increment in meter to search for along the axis of the cylinder. The default value is 0.005, must be greater than 0.001.

The transform to apply to the centric gripper relative to its origin. By default, the gripper z-axis points towards the object.

The specifications for a parameterized suction type gripper.

The specifications for a parameterized pinch type gripper.

The specifications for a parameterized centric type gripper.

The opening of the gripper in meters.

The width of the finger in meters.

The length of the finger in meters.

The antipodal threshold in radians. If the two surface normals on the object is larger than the threshold, the pose is considered as antipodal. The default value is 3.0 radians.

The transform to apply to the pinch gripper relative to its origin. By default, the gripper z-axis points towards the object, y-axis is algined to the gripper opening direction, and x-axis is aligned to the gripper finger width.

The minimum closing distance of the gripper in meters. Should be a non-negative value less than the opening of the gripper. By default, the value is assumed to be 0.0, i.e., the gripper closes completely.

The radius of the suction cup in meters.

The surface roughness threshold of the suction cup in meters.

The 2D coordinates of the suction cup locations in meters in the x-y plane of the tool frame where z = 0.

The rotation increment to search for grasp annotations in radians. The default value is pi/4 radians.

The maximum rotation to stop searching for grasp annotations in radians. The default value is pi radians.

The transform to apply to the suction gripper relative to its origin. By default, the gripper z-axis points towards the object.

The plate pose in the geometry origin frame.

Indices of the suction cups to activate.

For convenience, this frame is a child frame of the object.

For convenience, this frame is a child frame of the object.

The target object to pick

Object reference frame Will remove after b/296861796 is fixed.

Grasp pose in the object frame.

The estimated probability of success for this grasp assuming object pose is accurate, in the range [0, 1].

The label of this grasp in the given grasp set.

Pose estimates for objects in the scene.

DEPRECATED: Use object_category instead. The object category of the estimates. This is used to spawn objects in the scene corresponding to the estimates.

The id of the Scene Object asset for which the pose estimates belong to. The asset must be installed in the solution.

List of plate configs for the four gripper plates, in the ordering of numbers in schmalz_multi_axis_gripper.sdf (e.g., the plate with tool_frame_0 corresponds to the first config).

Score of this grasp annotation that reflects the preference among different grasps. This is because certain grasps are more likely to succeed than others. Default value: 1.0.

The product part name of the geometry. Call it geometry_id to be consistent with the Metal Morph project.

Name of the gripper object in the world. Call it gripper_id to be consistent with the Metal Morph project.

The pose of the gripper TCP in the geometry's (i.e., the object's) origin frame.

Target positions of the 6 linear joints.

Indices of the suction cups to activate. Value has to be in the range of [0, 143].

Grasp success threshold (e.g., percentage of suction cups that feels suction among those to activate). Default value: 1.0.

Cartesian limits used in checking trajectory between pregrasp and grasp.

Name of the ranker. Default to straight_line_checker.

Time limit to compute trajectory. Default to 10 seconds.

Used to filter out grasps based on how "top down" their approaching directions are. Grasps whose normalized top-down value is less than this will have a score of 0. E.g., When this is 0.5, all horizontal and bottom-up pointed grasps are scored 0; if 0.75, then all grasps lower than 45 degrees top-down are scored 0. See TopDownGraspRanker for details.

Name of the ranker. Default to top_down_grasp_ranker.

Minimum detection visibility in range [0,1] for a grasp to be considered valid.

Name of the ranker. Default to visibility_grasp_ranker.