Package intrinsic_proto.grasping.service.grasp_planner_service.v1
Message
GPSPlanGraspExecutionParams
Message
GraspPlannerServiceConfig
Message
NotifyGraspResultsRequest
Message
PlanGraspExecutionRequest
Services
service GraspPlannerService intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
rpc RegisterGraspPlanner
Request: intrinsic_proto.grasping.service.grasp_planner_service.v1.RegisterGraspPlannerRequest
Response:
intrinsic_proto.grasping.service.grasp_planner_service.v1.RegisterGraspPlannerResponse
Construct and register a grasp planner
Stop all grasp planning and remove all grasp planners.
rpc PlanGrasps
Request: intrinsic_proto.grasping.service.grasp_planner_service.v1.PlanGraspsRequest
Response:
intrinsic_proto.grasping.GraspPlan
Plan grasps
rpc RankGrasps
Request: intrinsic_proto.grasping.service.grasp_planner_service.v1.RankGraspsRequest
Response:
intrinsic_proto.grasping.GraspPlan
Rank grasps
rpc NotifyGraspResults
Request: intrinsic_proto.grasping.service.grasp_planner_service.v1.NotifyGraspResultsRequest
Response:
google.protobuf.Empty
Notify grasp results
rpc PlanGraspExecution
Request: intrinsic_proto.grasping.service.grasp_planner_service.v1.PlanGraspExecutionRequest
Response:
intrinsic_proto.grasping.GraspExecutionPlanningResult
Plan grasp execution
Messages
message GPSPlanGraspExecutionParams intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
Parameters to plan a grasp execution by the GraspPlannerService
| Field | Type | Description | |
|---|---|---|---|
| 1 | grasp |
intrinsic_proto.grasping.Grasp
|
Grasp to plan. |
| 2 | world_id |
string
|
The world used to plan the grasp execution. |
| 4 | start_robot_joint_positions |
intrinsic_proto.icon.JointVec
|
The start robot joint positions when executing this grasp. |
message GPSPlanGraspsParams intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
Parameters to plan grasps by the GraspPlannerService
| Field | Type | Description | |
|---|---|---|---|
| 1 | world_id |
string
|
The world used to plan grasps. |
| 3 | grasp_targets |
repeated
intrinsic_proto.grasping.GraspTarget
|
A list of annotated grasp targets. |
| 4 | start_robot_joint_positions |
intrinsic_proto.icon.JointVec
|
The start robot joint positions when executing this grasp. |
message GraspPlannerServiceConfig intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | ingress_address |
string
|
The ingress address for connecting to all services. |
| 3 | max_cache_size_per_group |
int64
|
The cache size limit per each group. See |
message NotifyGraspResultsRequest intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | planner_id |
string
|
The planner to send the result. Must be already registered. |
| 2 | executed_grasps |
repeated
intrinsic_proto.grasping.AttemptedGrasp
|
The grasps that have been executed. |
message PlanGraspExecutionRequest intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 7 | planner_id |
string
|
The planner to use for planning. Must be already registered. |
| 8 | plan_grasp_execution_params |
intrinsic_proto.grasping.service.grasp_planner_service.v1.GPSPlanGraspExecutionParams
|
The parameters for grasp execution planning. |
message PlanGraspsRequest intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
A request to plan grasps with the given planner.
| Field | Type | Description | |
|---|---|---|---|
| 1 | planner_id |
string
|
The planner to use for planning. Must be already registered. |
| 2 | plan_grasps_params |
intrinsic_proto.grasping.service.grasp_planner_service.v1.GPSPlanGraspsParams
|
The parameters for grasp planning. |
message RankGraspsRequest intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | grasps |
repeated
intrinsic_proto.grasping.Grasp
|
The grasps to rank and filter. |
| 2 | robot_name |
string
|
The robot name to use for ranking. |
| 3 | tool_frame |
intrinsic_proto.world.TransformNodeReference
|
The tool frame to use for ranking. |
| 4 | rankers_params |
intrinsic_proto.grasping.GraspRankersParams
|
Parameters for grasp rankers. |
| 5 | recent_grasps |
repeated
intrinsic_proto.grasping.AttemptedGrasp
|
Recently attempted grasps. Includes both succeeded and failed ones. |
| 6 | world_id |
string
|
The world used to rank grasps. |
| 7 | score_threshold |
float
|
Grasps with a score lower than this are filtered |
| 8 | max_num_grasps |
optional
int32
|
Ranking returns early if these number of grasps have been found. Defaults to inf if not specified. |
| 9 | grasp_ranking_soft_timeout_in_sec |
optional
float
|
Returns if at least one valid grasp is found among the input grasps and the timeout has reached. Note that this is not a hard time constraint - for example, if the timeout is reached but no grasps are found, the ranker continues until either one valid grasp is found or all candidate grasps are determined invalid. Defaults to inf if not specified. |
message RegisterGraspPlannerRequest intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
A request to register a grasp planner with a given id.
| Field | Type | Description | |
|---|---|---|---|
| 1 | planner_id |
string
|
The ID of the planner. This ID will be used later to plan grasps.
If the planner with the same ID is already registered, the service will
return a failure unless |
| 2 | grasp_planner_params |
intrinsic_proto.grasping.GraspPlannerParams
|
The parameters to construct a grasp planner. |
| 5 | grasp_execution_planner_params |
intrinsic_proto.grasping.GraspExecutionPlannerParams
|
The parameters to construct a grasp execution planner. |
message RegisterGraspPlannerResponse intrinsic/manipulation/service/grasp_planner_service/v1/grasp_planner_service.proto
| Field | Type | Description | |
|---|---|---|---|
| 1 | success |
bool
|
True if a grasp planner is successfully registered. |
| 2 | debug_message |
optional
string
|
Any message to help debugging. |