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Package intrinsic_proto.grasping.service

Service MultiAxisAutoAnnotatorService

Message GetAnnotationsAndCommandsRequest

Message GetAnnotationsAndCommandsResponse

Message GetAnnotationsRequest

Message GetAnnotationsResponse

Message MultiAxisAutoAnnotatorServiceConfig

Message ShowAnnotationsRequest

Message ShowAnnotationsResponse

Services

service MultiAxisAutoAnnotatorService intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

rpc GetAnnotations
Request: intrinsic_proto.grasping.service.GetAnnotationsRequest
Response: intrinsic_proto.grasping.service.GetAnnotationsResponse

Returns the annotations for the given part.

errors: no annotations available

rpc GetAnnotationsAndCommands
Request: intrinsic_proto.grasping.service.GetAnnotationsAndCommandsRequest
Response: intrinsic_proto.grasping.service.GetAnnotationsAndCommandsResponse

Returns the annotations and commands for the given part.

errors: no annotations available

rpc ShowAnnotations
Request: intrinsic_proto.grasping.service.ShowAnnotationsRequest
Response: intrinsic_proto.grasping.service.ShowAnnotationsResponse

Shows the annotations for the given part.

errors: no annotations available

Messages

message GetAnnotationsAndCommandsRequest intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 triangle_mesh intrinsic_proto.geometry.TriangleMesh

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.
2 world_service_address string

The service address of the world service.
3 geometry_service_address string

The service address of the geometry service.

message GetAnnotationsAndCommandsResponse intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 annotations repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspAnnotation

The annotations generated for the given part.
2 commands repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspCommand
3 debug_message optional string

Any message to help debugging.

message GetAnnotationsRequest intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 triangle_mesh intrinsic_proto.geometry.TriangleMesh

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.

message GetAnnotationsResponse intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 annotations repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspAnnotation

The annotations generated for the given part.
2 debug_message optional string

Any message to help debugging.

message MultiAxisAutoAnnotatorServiceConfig intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 ingress_address string

The ingress address for connecting to all services.

message ShowAnnotationsRequest intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 annotations repeated intrinsic_proto.grasping.SchmalzMultiAxisGraspAnnotation

The annotations generated for the given part, returned by GetAnnotations or GetAnnotationsAndCommands.
2 world_id string

The world to show the annotations in.
3 object_name string

The object name of the part to show the annotations for.
4 time_between_annotations_in_sec optional double

The time between annotations, in seconds. Default is 2 seconds if not specified.

message ShowAnnotationsResponse intrinsic/manipulation/service/multi_axis_auto_annotator_service.proto

Field Type Description
1 success bool

True if the visualization is successful.
2 debug_message optional string

Any message to help debugging.