Gripper and grasp-pose planning

Requests and results for generating grasp poses for one or more concrete gripper designs.

Messages

Input and result types for gripper and grasp-pose planning.

GraspObject[source]

Object for which grasp candidates are generated.

Fields:

  • geometry (configrip_contracts.common.GeometryRef)

  • mass_kg (float | None)

GraspPlanningRequest[source]

Object and grippers to consider during grasp planning.

Fields:

  • object (configrip_contracts.grasp_planning.GraspObject)

  • grippers (tuple[configrip_contracts.common.GripperRef, ...])

  • max_candidates_per_gripper (int)

  • seed (int)

GraspCandidate[source]

One extended Isaac-Grasp entry for one concrete gripper.

position and orientation form the object-relative transform T_M_G. Frame G uses the canonical GraspGenX convention: it is right-handed, +X is the closing direction, and +Z is the approach direction.

confidence is a backend ranking score, not necessarily a calibrated success probability. Higher values rank first within one gripper. Scores are not assumed to be comparable across different grippers. candidate_id remains stable across subsequent planning stages. generation_method identifies the backend branch that proposed the candidate; it does not change how confidence is interpreted.

Fields:

  • candidate_id (str)

  • gripper (configrip_contracts.common.GripperRef)

  • confidence (float)

  • generation_method (str | None)

GraspPlanningMetadata[source]

ConfiGRIP extension of the Isaac-Grasp file metadata.

generation_mode records the backend-specific candidate-generation configuration. warnings reports non-fatal omissions such as a generation method skipped for one gripper.

Fields:

  • upstream_revision (str)

  • checkpoints (tuple[configrip_contracts.common.AssetRef, ...])

  • seed (int)

  • runtime_seconds (float)

  • pose_frame (str)

  • length_unit (Literal['metre'])

  • grasp_frame_convention (Literal['graspgenx'])

  • generation_mode (str | None)

  • warnings (tuple[str, ...])

GraspPlanningResult[source]

Extended NVIDIA Isaac-Grasp result.

The standard format, format_version, and grasps fields remain readable by the GraspGenX Isaac-Grasp loader. Candidate IDs are the mapping keys. Entries are emitted best-first for each gripper, in request order. ConfiGRIP adds candidate/gripper information and reproducibility metadata.

Fields:

  • format (Literal['isaac_grasp'])

  • format_version (float)

  • grasps (dict[str, configrip_contracts.grasp_planning.GraspCandidate])

  • metadata (configrip_contracts.grasp_planning.GraspPlanningMetadata)