Users Manual

compute
_
grasps (for ItemPick) Triggers the computation of grasping poses for a suction device. All images
used by the node are guaranteed to be newer than the service trigger time.
If successful, the service returns a sorted list of grasps and (optionally) the detected load carriers.
This service requires the following arguments:
{
"item
_
models": [
{
"type": "string",
"unknown": {
"max
_
dimensions": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"min
_
dimensions": {
"x": "float64",
"y": "float64",
"z": "float64"
}
}
}
],
"load
_
carrier
_
compartment": {
"box": {
"x": "float64",
"y": "float64",
"z": "float64"
},
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
}
},
"load
_
carrier
_
id": "string",
"pose
_
frame": "string",
"region
_
of
_
interest
_
id": "string",
"robot
_
pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"suction
_
surface
_
length": "float64",
"suction
_
surface
_
width": "float64"
}
7.4. ItemPick and BoxPick 99