grasp_stability_msgs

Summary

grasp_stability_msgs
Version:

0.0.5
Description:

Message definitions for grasp stability analysis during robot manipulation actions
Maintainers:
  • Jan Winkler <winkler AT cs DOT uni-bremen DOT de>
Licenses:
  • BSD
BuildDepends:
BuildtoolDepends:
 
BuildExportDepends:
 
ExecDepends:

Types

Message types

grasp_stability_msgs/GraspStability
Field:
  • measurement_context_id (string) –
  • grasp_quality (float32) –
  • estimation_confidence (float32) –
  • grasp_category (int32) –
Constant:
  • GRASP_CAT_UNDEFINED (int32):0 –
  • GRASP_CAT_GOOD (int32):1 –
  • GRASP_CAT_MEDIUM (int32):2 –
  • GRASP_CAT_BAD (int32):3 –

# All of these fields are subject to change as the discussion about # integration of grasp stability estimation and CRAM progresses

For telling different grasp stability estimations (i.e. multiple arms that are monitored simultaneously) apart.
## All of these fields are subject to change as the discussion about
## integration of grasp stability estimation and CRAM progresses


# For telling different grasp stability estimations (i.e. multiple
# arms that are monitored simultaneously) apart.
string measurement_context_id

# Functional data, describing the results of the estimation, and
# the confidence in the result.
float32 grasp_quality		# range: 0.0 - 1.0
float32 estimation_confidence	# range: 0.0 - 1.0

# Grasp category, based on the above values
int32 GRASP_CAT_UNDEFINED=0
int32 GRASP_CAT_GOOD=1
int32 GRASP_CAT_MEDIUM=2
int32 GRASP_CAT_BAD=3

int32 grasp_category		# the category of the grasp

Service types

grasp_stability_msgs/Control
Constant (Request):
 
  • CTRL_START (int32):0 –
  • CTRL_STOP (int32):1 –
Field (Request):
 
  • command (int32) –
  • measurement_context_id (string) –
Constant (Response):
 
  • FAILURE (int32):0 –
  • SUCCESS (int32):1 –
Field (Response):
 
  • result (int32) – 
int32 CTRL_START=0
int32 CTRL_STOP=1
int32 command
string measurement_context_id
---
int32 FAILURE=0
int32 SUCCESS=1
int32 result