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Package intrinsic_proto.grasping.service

Service GraspAnnotator

Service MultiAxisAutoAnnotatorService

Message GetAnnotationsAndCommandsRequest

Message GetAnnotationsAndCommandsResponse

Message GetAnnotationsRequest

Message GetAnnotationsResponse

Message GraspAnnotatorConfig

Message GraspAnnotatorRequest

Message GraspAnnotatorResponse

Message MultiAxisAutoAnnotatorServiceConfig

Message ShowAnnotationsRequest

Message ShowAnnotationsResponse

Services

service GraspAnnotator intrinsic/manipulation/service/grasp_annotator_service.proto

rpc Annotate
Request: intrinsic_proto.grasping.service.GraspAnnotatorRequest
Response: intrinsic_proto.grasping.service.GraspAnnotatorResponse

Annotate grasps.

service MultiAxisAutoAnnotatorService intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

rpc GetAnnotations
Request: intrinsic_proto.grasping.service.GetAnnotationsRequest
Response: intrinsic_proto.grasping.service.GetAnnotationsResponse

Returns the annotations for the given part.

errors: no annotations available

rpc GetAnnotationsAndCommands
Request: intrinsic_proto.grasping.service.GetAnnotationsAndCommandsRequest
Response: intrinsic_proto.grasping.service.GetAnnotationsAndCommandsResponse

Returns the annotations and commands for the given part.

errors: no annotations available

rpc ShowAnnotations
Request: intrinsic_proto.grasping.service.ShowAnnotationsRequest
Response: intrinsic_proto.grasping.service.ShowAnnotationsResponse

Shows the annotations for the given part.

errors: no annotations available

Messages

message GetAnnotationsAndCommandsRequest intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 triangle_mesh intrinsic_proto.geometry.TriangleMesh

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.
2 world_service_address string

The service address of the world service.
3 geometry_service_address string

The service address of the geometry service.

message GetAnnotationsAndCommandsResponse intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 annotations repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspAnnotation

The annotations generated for the given part.
2 commands repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspCommand
3 debug_message optional string

Any message to help debugging.

message GetAnnotationsRequest intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 triangle_mesh intrinsic_proto.geometry.TriangleMesh

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.

message GetAnnotationsResponse intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 annotations repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspAnnotation

The annotations generated for the given part.
2 debug_message optional string

Any message to help debugging.

message GraspAnnotatorConfig intrinsic/manipulation/service/grasp_annotator_service.proto

Field Type Description
1 ingress_address string

message GraspAnnotatorRequest intrinsic/manipulation/service/grasp_annotator_service.proto

Field Type Description
1 mesh_data intrinsic_proto.grasping.MeshData

The mesh data as a path, bytes, or triangle mesh to annotate on.
2 gripper_specs intrinsic_proto.grasping.ParameterizedGripperSpecs

The specifications for a parameterized gripper to use for annotation.
3 num_samples int64

The number of samples to query on the mesh.
4 annotation_metrics_weights optional intrinsic_proto.grasping.MetricWeights

The metrics weights to score annotation with. If not provided, the annotation are not scored and the default score will be set to 1.0.
5 max_num_annotations optional int32

Truncate the number of annotations to return to this number. If grasp_annotator_metrics is set, the top N annotations sorted by score will be returned in descending order (unordered in the absence of metrics). If not set, all feasible annotations will be returned.
6 constraint optional intrinsic_proto.grasping.GraspAnnotationConstraint

Constraints to filter grasp poses.

message GraspAnnotatorResponse intrinsic/manipulation/service/grasp_annotator_service.proto

Field Type Description
1 annotations intrinsic_proto.grasping.GraspAnnotations

Annotated grasps.

message MultiAxisAutoAnnotatorServiceConfig intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 ingress_address string

The ingress address for connecting to all services.

message ShowAnnotationsRequest intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 annotations repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspAnnotation

The annotations generated for the given part, returned by GetAnnotations or GetAnnotationsAndCommands.
2 world_id string

The world to show the annotations in.
3 object_name string

The object name of the part to show the annotations for.
4 time_between_annotations_in_sec optional double

The time between annotations, in seconds. Default is 2 seconds if not specified.

message ShowAnnotationsResponse intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 success bool

True if the visualization is successful.
2 debug_message optional string

Any message to help debugging.