cob_grasp_generation

Summary

cob_grasp_generation
Version:

0.6.3
Description:

Grasp generation for Care-O-bot based on OpenRAVE
Maintainers:
  • Felix Messmer <fxm AT ipa DOT fhg DOT de>
Licenses:
  • BSD
Urls:
Authors:
  • Witalij Siebert
  • Felix Messmer
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Action types

cob_grasp_generation/GenerateGrasps
Field (Goal):
  • object_name (string) –
  • gripper_type (string) –
  • replan (bool) –
  • viewer (bool) –
Field (Result):
  • success (bool) –
  • num_grasps (uint32) –
Field (Feedback):
 
  • status (bool) –

goal definition

#goal definition
string object_name

#gripper used on the robot
string gripper_type

#grasp generation parameters for OpenRAVE



#replan grasps
bool replan

#show Viewer
bool viewer
---
#result definition
bool success
uint32 num_grasps
---
#feedback
bool status
cob_grasp_generation/QueryGrasps
Field (Goal):
  • object_name (string) –
  • gripper_type (string) –
  • grasp_id (uint32) –
  • num_grasps (uint32) –
  • threshold (float64) –
Field (Result):
Field (Feedback):
 
  • status (bool) –

goal definition

#goal definition
string object_name

#gripper used on the robot
string gripper_type

#only return grasp with given id
#note: cannot be used to return first grasp (id = 0)
uint32 grasp_id

#only return that many grasps
#returns all grasps when set to 0
uint32 num_grasps

#only return graps that have quality >= threshold
#returns all grasps when set to 0
float64 threshold

---
#result definition
bool success
moveit_msgs/Grasp[] grasp_list
---
#feedback
bool status
cob_grasp_generation/ShowGrasps
Field (Goal):
  • object_name (string) –
  • gripper_type (string) –
  • grasp_id (int32) –
  • sort_by_quality (bool) –
Field (Result):
  • success (bool) –
Field (Feedback):
 
  • status (bool) –

goal definition

#goal definition
string object_name

#gripper used on the robot
string gripper_type

int32 grasp_id
bool sort_by_quality
---
#result definition
bool success
---
#feedback
bool status