The attempted grasp.

Whether the grasp successfully picked up an object.

The axis to filter grasp poses by, in the base frame of the object. Grasp poses are filtered out if the Z-axis of the grasp pose is not aligned and in the same direction as the axis.

The angle tolerance in radians to filter grasp poses. The default value is 0.01 radians.

Maximum number of grasps to return.

Grasp frame z-axis offset in its positive direction. Used to locally adjust the grasp point. E.g., 0.02 means grasp is 2cm further along the z-axis (usually means it's 2cm deeper into the object or closer to the object).

The distance between grasp and pregrasp frames.

The tool frame to use for the grasp.

The robot to perform this grasp.

Ranker specific parameters.

Use this to specify target picking zone and perform zone-based grasp planning. This is only used if objects is empty

Adapter specific parameters.

The maximum number of recently executed grasps to consider in planning.

The object category used by PoseBasedGraspProposer. Used as a key to map object categories to grasps.

The value of this field must match the category of the grasp target in use. For example, if pose_estimates is provided, then pose_estimates.object_category.name must be used, similarly, for grasp_zone use grasp_zone.object_category.name.

Only select grasp poses outside the box, defaults to false.

Dimensions of the box shaped object in its x, y, z axes. Used to compute grasp poses with respect to the target object.

The pose of object's center in its mesh frame. Useful when the mesh frame isn't at the center of the box. Used to compute grasp poses with respect to the target object. Defaults to the identity pose.

Number of grasps to add on each surface. These are grasp poses at the center position of a surface, rotated around the z-axis, evenly spread in 360 degrees. E.g., if num_rotations=6, then the grasps are 60 degree rotations around z-axis. Used to compute grasp poses with respect to the target object. Defaults to 4.

The object surfaces to which to add grasps. Defaults to all surfaces if unspecified or empty. Used to compute grasp poses with respect to the target object. 0 for the surface that intersects the x-axis positive axis; 1 for the surface that intersects the x-axis negative axis; 2 for y-axis positive axis; 3 for y-axis negative axis, 4 for z-axis positive, 5 for z-axis negative.

Scene ID if this grasp plan is computed from a perception scene.

The score to return if a grasp is too close to a recently failed grasp. Defaults to 0.001 when unspecified. Set this to 0 will effectively cause the grasp to be filtered.

The translation distance used to decide whether a grasp G1 is too close to a grasp G2 in target_grasps. If dist(G1,G2) < distance_threshold, return a score of min_score. Defaults to 0.01.

Similar to distance_threshold, but only used to check the distance in the z axis. dist(G1_z, G2_z)) < distance_threshold_z must be true for returning min_score for a grasp. Defaults to +inf.

Name of the ranker. Default to diversity_grasp_ranker.

FingerGrasp specific

Max force.

The score of the grasp. Range: [0, 1]. A higher score means a higher probability of execution success.

The name of the target object to grasp in the world.

Confidence of detection, in range [0, 1].

An IK solution for the pregrasp pose.

An IK solution for the grasp pose.

A possible placement pose only if PlacementConstraints.placement_pose_constraint is specified and the constraint is feasible. This provides a feasible placement pose for the grasp for the user when PlacementPoseConstraint.target_frame_margins is specified, when the user is expecting the placement to take place within the margins but not sure where exactly would guarantee the placement success. Its IK is guaranteed to be feasible, while trajectories towards it are not.

Parameters for top-down adapter.

The minimum contact area between the finger and the object, expressed as a percentage of the finger area (width x length). Annotations with the contact area below this will be filtered out. Defaults to 0.0. Must be within [0.0, 1.0]. This will be satisfied for each finger and will be ignored if not using a ParameterizedPinchGripper.

The bounding box to filter grasp poses, in base frame of the object.

Axis constraint to filter grasp poses.

Trajectory to move from starting position to pregrasp position/pose. If unspecified, then traj_to_grasp moves from starting position to grasp position/pose via pregrasp position/pose in a single trajectory.

If traj_to_pregrasp is specified, then this trajectory moves from pregrasp position/pose to grasp position/pose; otherwise this moves from start to grasp via pregrasp in a single trajectory.

Trajectory to move from grasp position to post position/pose.

The robot to execute a grasp.

The timeout in second for the path planning. If not set, use default value set in MotionPlannerService.

If True, the robot moves from starting position to grasp position via pregrasp position in a single trajectory. Default to False.

The path constraints applied to the motion segment from start to the pregrasp pose.

The path constraints applied to the motion segment from the pregrasp pose to the grasp pose.

The path constraints applied to the motion segment from the grasp pose to the postgrasp pose.

The DynamicCartesianLimits applied to the motion segment from start to the pregrasp pose.

The DynamicCartesianLimits applied to the motion segment from the pregrasp pose to the grasp pose.

The DynamicCartesianLimits applied to the motion segment from the grasp pose to the postgrasp pose.

DEPRECATED: Use collision_excluded_eoat_parts instead. If specified, ignore collisions between the given EOAT (end-of-arm tool) and the target object at grasp pose. This isn't part of the path constraints because the target object is often unknown at construction time.

If specified, ignore collisions between the given EOAT (end-of-arm tool) parts and the target object at grasp pose. This isn't part of the path constraints because the target object is often unknown at construction time.

The ID of the grasp that we were asked to plan for.

The total time took to plan this grasp execution.

Message to give more details to this grasp execution planning.

The actual plan if planning is successful.

Cause of planning failure.

Optional debug information.

Parameters for height based ranker.

Parameters for IK-collision checker. IK and collision parameters specified here are also used for the StraightLineChecker if the latter is enabled.

Parameters for visibility based ranker.

Parameters for TopDownGraspRanker.

Parameters for StraightLineChecker. This uses the same IK and collision settings specified in ik_collision_checker_params; if the latter is unspecified, then the default settings are used (checks collisions at pregrasp pose, allows collisions at grasp pose, and requires same branch IK).

Weights for the rankers. Weight values have to be non-negative. If the map is empty and a visibility ranker is used, then the visibility ranker's weight is set to 10, and others set to 1; if the map is empty and no visibility rankers are used, then all weights are 1.

Parameters for diversity grasp ranker.

Parameters for placement constraint checker.

Minimum expected height (in meters) of an object when grasping, expressed in root frame.

Maximum expected height (in meters) of an object when grasping, expressed in root frame.

Name of the ranker. Default to height_grasp_ranker.

Score range between 0.0 and 1.0.

An IK solution for the pregrasp pose. Only populated if straightline checker is enabled and if an IK solution is available. Unspecified otherwise.

An IK solution for the grasp pose. Only populated if straightline checker is enabled and if an IK solution is available. Unspecified otherwise.

Joint limits used in grasp/pregrasp pose IK checks.

Whether to check collisions at grasp pose. On top of this, if collision_excluded_eoat_parts is specified, then collisions are ignored between the eoat parts and the target object at grasp pose.

Whether to require grasp pose to have same kinematic branch as starting robot joint positions.

Passed to MotionPlannerClient.compute_ik. This has to be 1 if require_same_branch_ik is set to True.

Name of the ranker. Default to ik_collision_checker.

Reference(s) to EOAT (end-of-arm tool) parts to allow collision with the target object at grasp pose. Has no effect if unspecified.

Parameters for pinch gripper used for collision checks. If specified, pinch gripper collisions will be checked at grasp pose. Do not set this field if the gripper is not a pinch gripper type.

Moving frame that will be aligned with the target frame(s) at placement. This typically is a tool or tip frame.

The representative frames during insertion to check for reachability. This can be a set of insertion waypoints that define the "boundary" of the insertion motion(s) that should be checked. If insertion is a linear motion, the start and end frames can be used. If insertion consists of one or more force skills: for moving to contact, use the start and end frames; for skills involving pattern search, include representative boundary points of the pattern and optionally the start point, e.g. the -X, X, -Y, Y, O points as illustrated below on the boundary of the following pattern bounding box. Y

• ^ *
• | * -X * O|------>* X
• *
• *

      -Y

Optionally specify other representative points within the motion range, but keep in mind that any new point will consume additional planning time.

Local collision settings when checking force constraints. If not defined, it will use the global collision settings if defined or the default collision settings with zero margin if none are set.

The reference frame pose in the object frame. E.g., this can be the object center frame. If unspecified, use the object frame as the reference frame.

The annotation pose in the object frame.

Number of rotations to add at this annotation around its z-axis, evenly spread in 360 degrees. E.g., if num_rotations=6, then the poses are 60 degree rotations around z-axis of the annotation pose. Defaults to 1.

Score of this grasp annotation that reflects the preference of picking locations. E.g., a surface center pose might have a higher score than a pose near an edge, since center grasps are more stable. Default value: 1.0.

The mesh data as bytes.

The file type of the mesh bytes, e.g.: "glb", "obj", "stl".

The triangle mesh with of the part with both faces and vertices specified within. The expectation is three dimensional vertices and triangles for the faces. Specified in row major order.

The path to a mesh.

The mesh bytes with the file type.

The triangle mesh with of the part with both faces and vertices specified within. The expectation is three dimensional vertices and triangles for the faces. Specified in row major order.

The weight of the distance to center of mass metric. When unspecified, the metric is not used for scoring annotation.

The weight of the distance to bounding box corner metric. When unspecified, the metric is not used for scoring annotation.

The maximum opening radius of the gripper in meters.

The minimum closing radius of the gripper in meters, must be less than the opening radius.

The length of the gripper fingers in meters.

The thickness of fingers in meters, defaults to 0.01 meters.

The number of rotations to search for grasp annotations. The default value is 8.

Minimum increment in meter to search for along the axis of the cylinder. The default value is 0.005, must be greater than 0.001.

The transform to apply to the centric gripper relative to its origin. By default, the gripper z-axis points towards the object.

The specifications for a parameterized suction type gripper.

The specifications for a parameterized pinch type gripper.

The specifications for a parameterized centric type gripper.

The opening of the gripper in meters.

The width of the finger in meters.

The length of the finger in meters.

The antipodal threshold in radians. If the two surface normals on the object is larger than the threshold, the pose is considered as antipodal. The default value is 3.0 radians.

The transform to apply to the pinch gripper relative to its origin. By default, the gripper z-axis points towards the object, y-axis is algined to the gripper opening direction, and x-axis is aligned to the gripper finger width.

The minimum closing distance of the gripper in meters. Should be a non-negative value less than the opening of the gripper. By default, the value is assumed to be 0.0, i.e., the gripper closes completely.

The additional collision mesh of the gripper. The mesh is assumed to be relative to the tool frame.

The radius of the suction cup in meters.

The surface roughness threshold of the suction cup in meters. This is a measure of the "flatness" of the contact surface. Defaults to a lower bounded value of 0.003 meters, enter a larger value for more aggressive filtering.

The 2D coordinates of the suction cup locations in meters in the x-y plane of the tool frame where z = 0.

The rotation increment to search for grasp annotations in radians. The default value is pi/4 radians.

The maximum rotation to stop searching for grasp annotations in radians. The default value is pi radians.

The transform to apply to the suction gripper relative to its origin. By default, the gripper z-axis points towards the object.

Reference to the pinch gripper object.

Joint positions for fully opening the gripper fingers.

Joint positions for fully closing the gripper fingers.

Placement constraints to consider during grasp planning.

Name of the ranker. Default to placement_constraint_checker.

The placement pose constraint to be satisfied during grasp planning.

The insertion constraint to be satisfied during grasp planning. This checks the reachability of specified waypoints during insertion. For example, if the insertion is a linear motion, the two waypoints before and after the motion can be checked here; or if it's one or more force skills, some representative waypoints can be checked here.

Moving frame that will be aligned with the target frame at placement. This typically is the object reference frame, but can also be a tool or tip frame.

Target frame to align the moving frame with at placement. This should be the target frame before any force skills (if any) at placement, i.e. the beginning frame of any force skills at the end of placement.

The margins allowed in the [x, y, z] directions around the target frame. Must be non-negative. Set it to 0 for directions where no margin is needed. Currently only support margin in one of the [X, Y, Z] directions. Only specify this when specifying just the exact target frame does not fulfill the purpose, as it increases planning time.

Whether to require the IK of placement pose to have the same kinematic branch. Default to false.

The plate pose in the geometry origin frame.

Indices of the suction cups to activate.

For convenience, this frame is a child frame of the object.

For convenience, this frame is a child frame of the object.

The target object to pick

Object reference frame Will remove after b/296861796 is fixed.

An IK solution for the pregrasp pose. Only populated if straightline checker is enabled.

An IK solution for the grasp pose. Only populated if straightline checker is enabled.

The placement pose only if PlacementPoseConstraint is specified and met. The moving_frame and target_frame here are set to the same values as set in PlacementPoseConstraint. This provides a feasible placement pose for the grasp for the user when PlacementPoseConstraint.target_frame_margins is specified, when the user is expecting the placement to take place within the margins but not sure where exactly would guarantee the placement success. Populated the same as PlacementPoseConstraint.target_frame when no PlacementPoseConstraint.target_frame_margins is specified. This only guarantees its IK but not the trajectories towards it.

Grasp pose in the object frame.

The estimated probability of success for this grasp assuming object pose is accurate, in the range [0, 1].

The label of this grasp in the given grasp set.

Pose estimates for objects in the scene.

The id of the Scene Object asset for which the pose estimates belong to. The asset must be installed in the solution.

Add additional samples (on top of num_samples) along the center lines of each face. Number of additonal samples are computed based on object dimensions and spacing. Defaults to true.

Minimum distance between samples in meters, defaults to 0.005m.

List of plate configs for the four gripper plates, in the ordering of numbers in schmalz_multi_axis_gripper.sdf (e.g., the plate with tool_frame_0 corresponds to the first config).

Score of this grasp annotation that reflects the preference among different grasps. This is because certain grasps are more likely to succeed than others. Default value: 1.0.

The product part name of the geometry. Call it geometry_id to be consistent with the Metal Morph project.

Name of the gripper object in the world. Call it gripper_id to be consistent with the Metal Morph project.

The pose of the gripper TCP in the geometry's (i.e., the object's) origin frame.

Target positions of the 6 linear joints.

Indices of the suction cups to activate. Value has to be in the range of [0, 143].

Grasp success threshold (e.g., percentage of suction cups that feels suction among those to activate). Default value: 1.0.

The asset id of the object to which these annotations apply. Can be left out in situations where the asset_id can be inferred. Specifically, if the plan_targets for PlanGrasp either use the pose estimates or the grasp zone, then the asset_id will be inferred from those. Once b/462510961 is fixed, this field will be deprecated.

The annotations_id of the stored annotations. Defaults to "default".

Name of the ranker. Default to straight_line_checker.

Time limit to compute trajectory. Default to 10 seconds.

If true, check the full trajectory from the robot's current joint position to pregrasp pose and then to grasp pose. Otherwise, only check the straightline segment from pregrasp pose to grasp pose.

Used to filter out grasps based on how "top down" their approaching directions are. Grasps whose normalized top-down value is less than this will have a score of 0. E.g., When this is 0.5, all horizontal and bottom-up pointed grasps are scored 0; if 0.75, then all grasps lower than 45 degrees top-down are scored 0. See TopDownGraspRanker for details.

Name of the ranker. Default to top_down_grasp_ranker.

Minimum detection visibility in range [0,1] for a grasp to be considered valid.

Name of the ranker. Default to visibility_grasp_ranker.