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annotate_grasp

Skill class for ai.intrinsic.annotate_grasp skill.

A skill that annotates grasp poses for a given pair of object and gripper parameterization.

Object mesh is queried with user specified num_samples and checked for grasp feasibility against gripper. Works for grippers of the following types:

  • Parallel jaw pinch gripper
  • Suction gripper with a single suction cup
  • Suction gripper with multiple suction cups in the same plane

The annotated grasp poses can be used for all objects of the same category, therefore the skill only needs to be used once for each object instance and should be called outside of a behavior tree loop. If successful, the skill will return a list of grasp poses as a grasp_annotations proto, which can be linked with a skills such as plan_grasp.

The skill fails if feasible grasp poses are not found.

Note that the grasp poses are in the object frame with z-axis pointing towards the object unless a transform is provided.

Prerequisites​

This skill does not have any prerequisite.

Usage Example​

This skill does not have any usage example yet.

Parameters​

object_to_annotate​

Reference to object in the world.

gripper_specs​

Parameters for the gripper type to use for annotations.

num_samples​

Number of samples to query. Returned number of annotations may be less than num_samples if there aren't enough feasible grasp poses. Output also affected by search parameters in gripper specs.

grasp_annotator_metrics​

Weights of metrics to score the annotations with. Resulting scores are the geometric mean of specified metrics. Annotation scores are not computed and default to 1.0 if weights are not set.

max_num_annotations​

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.

constraint​

Constraint to filter grasp poses.

visualization_params​

Parameters for visualizing the grasp annotations.

Returns​

grasp_annotations​

Generated grasp annotations. The results can be used for all objects of the same category.

Error Code​

The skill does not have error codes yet