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superquadric-grasp-demo.xml
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superquadric-grasp-demo.xml
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<?xml version="1.0" encoding="ISO-8859-1"?>
<?xml-stylesheet type="text/xsl" href="yarpmanifest.xsl"?>
<module>
<name>superquadric-grasp-demo</name>
<doxygen-group></doxygen-group>
<description>An example on how to run the superquadric modeling and grasping demo.</description>
<copypolicy>Released under the terms of the GNU GPL v2.0</copypolicy>
<version>1.0</version>
<description-long>
This module provides a wrapper code for performing the superquadric modeling and grasping demo.
A tutorial on how to use the module is provided here: <a href="https://github.com/robotology/superquadric-grasp-example/tree/gh-pages/grasp-demo#how-to-run-the-code"><b>tutorial</b></a>.
This page illustrates the main parameters of the module (Section <b>Parameters</b>), the available ports and services.
</description-long>
<arguments>
<param default="config.ini" desc="Configuration file name.">from</param>
<param default="object" desc="The name of the object to be modeled and grasped.">objname</param>
<param default="both" desc="Select the hand for which we want to compute a grasping pose. Available values: right, left, both.">hand_for_computing</param>
<param default="right" desc="Select the hand for which we want to use for executing the grasping. Available values: right, left.">hand_for_moving</param>
<param default="false" desc="Select automatically the best hand for grasping the object. Available values: true, false.">choose_hand</param>
<param default="on" desc="Filter multiple superquadrics in order to improve the object model. Available values: on, off.">filtered</param>
<param default="5" desc="Number of point clouds used for averaging the superquadrics.">n_pc</param>
</arguments>
<authors>
<author email="[email protected]"> Giulia Vezzani </author>
</authors>
<data>
<input>
<type>yarp::sig::ImageOfPixelRgb</type>
<port carrier="tcp">/superquadric-grasp-demo/img:i</port>
<description>
Receive the image from the left camera for saving the colored point cloud.
</description>
</input>
</data>
<services>
<client>
<type>yarp::os::Bottle</type>
<port carrier="tcp">/superquadric-grasp-demo/blob:rpc</port>
<description>
Ask for the 2D blob of the object.
</description>
</client>
<client>
<type>yarp::os::Bottle</type>
<port carrier="tcp">/superquadric-grasp-demo/OPC:rpc</port>
<description>
Ask for the 2D bounding box of the object.
</description>
</client>
<client>
<type>yarp::os::Bottle</type>
<port carrier="tcp">/superquadric-grasp-demo/SFM:rpc</port>
<description>
Ask for the 3D point cloud of the object.
</description>
</client>
<client>
<type>yarp::os::Bottle</type>
<port carrier="tcp">/superquadric-grasp-demo/superq:rpc</port>
<description>
Interact with the superquadric-model module.
</description>
</client>
<client>
<type>yarp::os::Bottle</type>
<port carrier="tcp">/superquadric-grasp-demo/grasp:rpc</port>
<description>
Interact with the superquadric-grasp module.
</description>
</client>
<server>
<type>graspDemo_IDL</type>
<idl>idl.thrift</idl>
<port>/superquadric-grasp-demo/rpc</port>
<description>service port</description>
</server>
</services>
</module>