Users Manual

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"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"
}
This service returns the following response:
{
"grasps": [
{
"item
_
uuid": "string",
"max
_
suction
_
surface
_
length": "float64",
"max
_
suction
_
surface
_
width": "float64",
"pose": {
"orientation": {
"w": "float64",
"x": "float64",
"y": "float64",
"z": "float64"
},
"position": {
"x": "float64",
"y": "float64",
"z": "float64"
}
},
"pose
_
frame": "string",
"quality": "float64",
"timestamp": {
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7.4. ItemPick and BoxPick 102