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Package intrinsic_proto.grasping.service.grasp_annotator_service.v1

Service GraspAnnotator

Message CopyAnnotationsRequest

Message CopyAnnotationsResponse

Message FetchAnnotationsRequest

Message FetchAnnotationsResponse

Message GraspAnnotatorConfig

Message GraspAnnotatorFilterRequest

Message GraspAnnotatorFilterResponse

Message GraspAnnotatorGenerateRequest

Message GraspAnnotatorGenerateResponse

Message GraspAnnotatorRequest

Message GraspAnnotatorResponse

Message GraspAnnotatorScoreRequest

Message GraspAnnotatorScoreResponse

Message GraspAnnotatorVisualizeRequest

Message GraspAnnotatorVisualizeResponse

Message ResetAnnotationsRequest

Message ResetAnnotationsResponse

Message SaveAnnotationsRequest

Message SaveAnnotationsResponse

Message VisualizationOptions

Enum StorageType

Services

service GraspAnnotator intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

rpc Annotate
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorResponse

Annotate grasps.

rpc Generate
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorGenerateRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorGenerateResponse

Generate list of unprocessed grasp annotation poses.

rpc Score
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorScoreRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorScoreResponse

Score grasp annotations.

rpc Filter
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorFilterRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorFilterResponse

Filter grasp annotations by constraints.

rpc Visualize
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorVisualizeRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.GraspAnnotatorVisualizeResponse

Visualize grasp annotations.

rpc SaveAnnotations
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.SaveAnnotationsRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.SaveAnnotationsResponse

Save annotations to KV store.

rpc FetchAnnotations
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.FetchAnnotationsRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.FetchAnnotationsResponse

Fetch saved annotations from KV store

rpc CopyAnnotations
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.CopyAnnotationsRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.CopyAnnotationsResponse

Copy annotations to another KV store

rpc ResetAnnotations
Request: intrinsic_proto.grasping.service.grasp_annotator_service.v1.ResetAnnotationsRequest
Response: intrinsic_proto.grasping.service.grasp_annotator_service.v1.ResetAnnotationsResponse

Reset annotations.

Messages

message CopyAnnotationsRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 scene_object_id string

Object whose annotations to copy
2 annotations_id string

ID of annotation set to copy
3 destination optional string

Name of cluster whose KV store to copy to. Empty string to copy to the global KV store.

message CopyAnnotationsResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description

message FetchAnnotationsRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 scene_object_id string

Unique id of object whose annotations to fetch
2 annotations_id string

ID for annotation set

message FetchAnnotationsResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 annotations intrinsic_proto.grasping.GraspAnnotations

Annotations for the given object
2 edits intrinsic_proto.grasping.GraspAnnotationsEdits

Edits on top of the annotations

message GraspAnnotatorConfig intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 ingress_address string
2 storage_type intrinsic_proto.grasping.service.grasp_annotator_service.v1.StorageType

Where to store annotations. Defaults to kv store.

message GraspAnnotatorFilterRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 mesh_data intrinsic_proto.grasping.MeshData

The mesh data as a path, bytes, or triangle mesh.
2 gripper_specs intrinsic_proto.grasping.ParameterizedGripperSpecs

The specifications for a parameterized gripper to use.
3 unfiltered_annotations intrinsic_proto.grasping.GraspAnnotations

Grasp annotations to be filtered.
4 constraint optional intrinsic_proto.grasping.GraspAnnotationConstraint

Constraints to filter grasp poses.

message GraspAnnotatorFilterResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 filtered_annotations intrinsic_proto.grasping.GraspAnnotations

Filtered grasp annotations.

message GraspAnnotatorGenerateRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 mesh_data intrinsic_proto.grasping.MeshData

The mesh data as a path, bytes, or triangle mesh.
2 gripper_specs intrinsic_proto.grasping.ParameterizedGripperSpecs

The specifications for a parameterized gripper to use.
3 num_samples int64

The number of samples to query on the mesh.
4 sampling_options optional intrinsic_proto.grasping.SamplingOptions

Options for configurable sampling parameters.

message GraspAnnotatorGenerateResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 unprocessed_annotations intrinsic_proto.grasping.GraspAnnotations

Generated unprocessed grasp annotations. These annotations are not filtered, scored or sorted.

message GraspAnnotatorRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 mesh_data intrinsic_proto.grasping.MeshData

The mesh data as a path, bytes, or triangle mesh to annotate on.
2 gripper_specs intrinsic_proto.grasping.ParameterizedGripperSpecs

The specifications for a parameterized gripper to use for annotation.
3 num_samples int64

The number of samples to query on the mesh.
4 annotation_metrics_weights optional intrinsic_proto.grasping.MetricWeights

The metrics weights to score annotation with. If not provided, the annotation are not scored and the default score will be set to 1.0.
5 max_num_annotations optional int32

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.
6 constraint optional intrinsic_proto.grasping.GraspAnnotationConstraint

Constraints to filter grasp poses.
7 sampling_options optional intrinsic_proto.grasping.SamplingOptions

Options for configurable sampling parameters.

message GraspAnnotatorResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 annotations intrinsic_proto.grasping.GraspAnnotations

Annotated grasps.

message GraspAnnotatorScoreRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 mesh_data intrinsic_proto.grasping.MeshData

The mesh data as a path, bytes, or triangle mesh.
2 gripper_specs intrinsic_proto.grasping.ParameterizedGripperSpecs

The specifications for a parameterized gripper to use.
3 unscored_annotations intrinsic_proto.grasping.GraspAnnotations

Grasp annotations to be scored.
4 annotation_metrics_weights optional intrinsic_proto.grasping.MetricWeights

The metrics weights to score annotation with. If not provided, the annotation are not scored and the default score will be set to 1.0.
5 max_num_annotations optional int32

Truncate the number of annotations to return to this number. If annotation_metrics_weights 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.

message GraspAnnotatorScoreResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 scored_annotations intrinsic_proto.grasping.GraspAnnotations

Scored grasp annotations.

message GraspAnnotatorVisualizeRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 annotations intrinsic_proto.grasping.GraspAnnotations

Annotated grasps.
3 constraint optional intrinsic_proto.grasping.GraspAnnotationConstraint

Constraints to filter grasp poses. If set, the constraints will be visualized as well.
4 visualization_options optional intrinsic_proto.grasping.service.grasp_annotator_service.v1.VisualizationOptions

Visualization options.
5 frame_id string

Frame ID to associate the visualization with.

message GraspAnnotatorVisualizeResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 status google.rpc.Status

Contains status of the visualization, and an error if the visualization failed.

message ResetAnnotationsRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description

message ResetAnnotationsResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description

message SaveAnnotationsRequest intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 annotations intrinsic_proto.grasping.GraspAnnotations

Annotations to save
2 edits intrinsic_proto.grasping.GraspAnnotationsEdits

Edits on top of the annotations
3 scene_object_id string

Asset id of object for which to store these annotations.
4 annotations_id string

User-specified ID for this annotation set Will overwrite any existing annotations for this ID

message SaveAnnotationsResponse intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description

message VisualizationOptions intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Field Type Description
1 lifetime_sec optional int32

The lifetime of the visualization in seconds. Default is 300 seconds.

Enums

enum StorageType intrinsic/manipulation/service/grasp_annotator_service/v1/grasp_annotator_service.proto

Name Number Description
STORAGE_TYPE_UNSPECIFIED 0
STORAGE_TYPE_KVSTORE 1
STORAGE_TYPE_DICT 2