plan_grasp

Skill class for ai.intrinsic.plan_grasp skill.

A skill that plans (but does not execute) grasps.

Prerequisites

This skill does not have any prerequisite.

Usage Example

This skill does not have any usage example yet.

Parameters

candidate_objects

Candidate objects to pick.

pose_estimates

Pose estimates for objects in the scene.

grasp_zone

Grasp zone to pick objects from.

debug_mode

Enabling debug mode will visualize filtered grasps in the scene. Visualization is achieved by adding grasp and pregrasp frames of the filtered grasps to the scene and waiting for a fixed duration of time (e.g., 1s) before removing these frames. When enabled, it also visualizes the grasp_bbox_zone in the scene as a transparent green box. Defaults to False.

tool_frame

The tool frame to use for the grasp. For example, if this is 'tip', that means the tip frame is the one that is expected to be at the grasp pose when the gripper is closed.

grasp_annotations

Annotation related parameters used to compute where the grasp poses will be with respect to the target object.

advanced_params

Advanced parameters.

Capabilities

robot

Resource having all of the following capabilities:

• Icon2Connection

• Icon2PositionPart

Returns

grasps

Resulting grasps. The grasp_frame and pregrasp_frame in grasps are child-frames of the respective target object; unless output_grasp_frame and output_pregrasp_frame are specified and reparent_output_frames_under_object=False, then those frames stay with their original parents.

plan_id

Used to identify the plan event. For internal use only.

success

Whether the plan returned at least one grasp.

Error Code

Code	Title	Recovery Instructions
20100	No grasps found failure	Check that tool_frame is correct and plan with more objects, pose estimates, or grasp annotations.
20110	Error summarizing collision checker failure mode	Check the error message for recovery instructions.
20120	Error summarizing straight line checker failure mode	Check the error message for recovery instructions.
20130	Error summarizing top down grasp ranker failure mode	Check the error message for recovery instructions.
20140	Error summarizing height grasp ranker failure mode	Check the error message for recovery instructions.
20150	Error summarizing visibility grasp ranker failure mode	Check the error message for recovery instructions.
20160	Error summarizing diversity grasp ranker failure mode	Check the error message for recovery instructions.
20200	Invalid skill parameterization	Check and fix skill input parameters.
20300	Generic value error	Check the error message for recovery instructions.
20400	Generic runtime error	Check the error message for recovery instructions.
20402	Unexpected status of the geometry service	Please make sure the solution is running normally, or redeploy the solution.