Struct GraspOperation 

pub struct GraspOperation {
    pub phase: Option<GraspPhase>,
    pub target_object: Option<ObjectRef>,
    pub grasp_type: Option<String>,
    pub confidence: Option<f64>,
    pub grasp_pose: Option<Pose>,
    pub pre_grasp_pose: Option<Pose>,
    pub is_stable: Option<bool>,
    pub slip_detected: Option<bool>,
    pub force_n: Option<f64>,
}

Grasp operation information.

Fields

phase: Option<GraspPhase>

Grasp phase

target_object: Option<ObjectRef>

Target object

grasp_type: Option<String>

Grasp type (e.g., “pinch”, “power”, “precision”)

confidence: Option<f64>

Grasp confidence (0-1)

grasp_pose: Option<Pose>

Grasp pose

pre_grasp_pose: Option<Pose>

Pre-grasp pose

is_stable: Option<bool>

Whether grasp is stable

slip_detected: Option<bool>

Slip detected

force_n: Option<f64>

Force at grasp (N)

Implementations

impl GraspOperation

pub fn new(phase: GraspPhase) -> Self

Create a grasp operation.

pub fn with_target(self, object: ObjectRef) -> Self

Set target object.

pub fn with_confidence(self, confidence: f64) -> Self

Set confidence.

Trait Implementations

impl Clone for GraspOperation

fn clone(&self) -> GraspOperation

Returns a duplicate of the value.

fn clone_from(&mut self, source: &Self)

Performs copy-assignment from source.

impl Debug for GraspOperation

fn fmt(&self, f: &mut Formatter<'_>) -> Result

Formats the value using the given formatter.

impl Default for GraspOperation

fn default() -> GraspOperation

Returns the “default value” for a type.

impl<'de> Deserialize<'de> for GraspOperation

fn deserialize<__D>(__deserializer: __D) -> Result<Self, __D::Error>

where __D: Deserializer<'de>,

Deserialize this value from the given Serde deserializer.

impl Serialize for GraspOperation

fn serialize<__S>(&self, __serializer: __S) -> Result<__S::Ok, __S::Error>

where __S: Serializer,

Serialize this value into the given Serde serializer.

impl Validate for GraspOperation

fn validate(&self) -> Result<(), ValidationErrors>

impl<'v_a> ValidateArgs<'v_a> for GraspOperation

type Args = ()

fn validate_with_args(&self, args: Self::Args) -> Result<(), ValidationErrors>