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grasp_planner_output.rst

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Grasp Planner Output Message Types

This section provides an understanding of the output from the EMD Grasp Planner. The output from the planner is typically provided to the Grasp Execution Component of EMD, but you can also provide your own grasp execution solutions that takes in such messages.

The EMD Grasp Planner consists of a ROS2 client that submits a request of the list of objects to be picked and how to pick them.

Service Name : grasp_requests

GraspRequest.srv

  • Service representing the entire pick and place operation. Contains a list of items (GraspTargets) to be grasped in the scene
Request name Field Type Explanation
grasp_targets GraspTarget[] Array of Grasp Targets (Refer below to GraspTarget message type)
Result name Field Type Explanation
success bool Indicates successful run of triggered service
message string Any other useful information from Grasp Execution

GraspTarget.msg

  • Represents a single object to be picked. Contains a list of end effector grasp plans (GraspMethods)
Message name Field Type Explanation
target_type string Object ID. Object Names will be used if using EPD Workflow
target_pose geometry_msgs/PoseStamped Position and Orientation of target Object
target_shape shape_msgs/SolidPrimitive Shape of target object (Used to create collision objects for path planning)
grasp_methods GraspMethod[] Array of Grasp Targets (Refer below to GraspMethod message type)

GraspMethod.msg

  • Represents a Single end effector option. Contains a list grasp poses for that gripper, sorted by ranks
Message name Field Type Explanation
ee_id string Name of End effector
grasp_poses geometry_msgs/PoseStamped[] Array of grasp poses
grasp_ranks float32[] Array of grasp ranks
grasp_markers visualization_msgs/Marker[] Array of markers representing grasp samples