package genmos_object_search.grpc
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View/edit binary Protocol Buffers messages
message
genmos_object_search.proto:50/////////////////////////////////// top-level rpc messages /////////////////////////////////// // For CreateAgent rpc ////
optional header = 1
string robot_id = 2
bytes config = 3
serialized configuration dictionary (UTF-8 encoding of a YAML string (yaml.safe_load permitted; JSON-compatible)
message
genmos_object_search.proto:59optional header = 1
Status status = 2
string message = 3
Initialize a planner
message
genmos_object_search.proto:188// For CreatePlanner rpc ////
optional header = 1
string robot_id = 2
bytes config = 4
serialized configuration dictionary (UTF-8 encoding of a YAML string (yaml.safe_load permitted; JSON-compatible)
bool overwrite = 5
True if overwrite existing planner
message
genmos_object_search.proto:200optional header = 1
Status status = 2
string message = 3
Get agent status
message
genmos_object_search.proto:66// For GetAgentCreationStatus rpc ////
optional header = 1
string robot_id = 2
message
genmos_object_search.proto:71optional header = 1
Status status = 2
string status_message = 3
Get current belief about where the object is over the search region
message
genmos_object_search.proto:157// For GetObjectBeliefs rpc ////
optional header = 1
string robot_id = 2
repeated string object_ids = 3
Scope scope = 4
scope: global or local
message
genmos_object_search.proto:165optional header = 1
Status status = 2
string message = 3
repeated object_beliefs = 4
Get current belief about the robot state
message
genmos_object_search.proto:174// For GetRobotBelief rpc ////
optional header = 1
string robot_id = 2
Scope scope = 3
message
genmos_object_search.proto:180optional header = 1
Status status = 2
string message = 3
optional robot_belief = 4
rpc ListenServer (, stream )
genmos_object_search.proto:39receives messages from server
message
genmos_object_search.proto:231// For ListenServer rpc ////
optional header = 1
string robot_id = 2
string message = 3
message
genmos_object_search.proto:237optional header = 1
string robot_id = 2
string message = 3
Calls the planner to return an action for execution
message
genmos_object_search.proto:207// For PlanAction rpc ////
optional header = 1
string robot_id = 2
optional bool debug = 3
debug flag
message
genmos_object_search.proto:214optional header = 1
Status status = 2
string message = 3
oneof action
move_action = 4
find_action = 5
kv_action = 6
string action_id = 7
server-generated id used to identify an action associated with a plan request
Process observation such as object detection or language, update agent belief
message
genmos_object_search.proto:111// For ProcessObservation rpc ////
optional header = 1
string robot_id = 2
optional robot_pose = 3
Pose of the robot when receiving the observation.
optional objects_found = 6
Signals new objects are found
oneof observation
If left out, then the observation is only about the robot itself.
object_detections = 4
language = 5
optional string action_id = 7
the action that the observation is associated with (e.g. received after action completion)
optional bool action_finished = 8
Set this to true if by the time this observation request is sent, the action has finished.
optional bool return_fov = 9
return the pomdp model's fov corresponding to the object detection Note that for different detectors (for different objects), there may be different fovs
optional bool debug = 10
debug flag
message
genmos_object_search.proto:143optional header = 1
Status status = 2
string message = 3
optional bytes fovs = 4
set if 'return_fov' is True. This is a serialized JSON string of the format: {'objid' -> {'visible_volume': [ [x,y,z,r] ... ], 'obstacles_hit': [ [x,y,z,r] ... ] }} Note that the x,y,z,r should all be in world frame
rpc Reset (, )
genmos_object_search.proto:42reset
message
genmos_object_search.proto:244// For Reset rpc ////
optional header = 1
message
genmos_object_search.proto:248optional header = 1
Status status = 2
string message = 3
More fine-grained rpcs for specific functionality Update search region by interpreting sensor data such as point cloud.
message
genmos_object_search.proto:84// For UpdateSearchRegion rpc //// Note: for hierarchical search, the global search agent may need to spawn local search agents, whose creation requires search region information through the robot's observations (e.g. point cloud). When that happens, the client should receive a message from the Communicate stream that requests this and that contains the robot id for the local search agent, and the client should send over an UpdateSearchRegionRequest
optional header = 1
string robot_id = 2
bool is_3d = 3
Whether the search region is 3D. DEPRECATED
optional robot_pose = 4
robot pose in the world frame
oneof search_region
occupancy_grid = 5
point_cloud = 6
optional search_region_params_2d = 7
optional search_region_params_3d = 8
message
genmos_object_search.proto:104optional header = 1
Status status = 2
string message = 3
message
common.proto:52a box in 2D, represented in the xyxy format
Used in:
double x_min = 1
double y_min = 2
double x_max = 3
double y_max = 4
message
common.proto:60a box in 3D that may be rotated in space.
Used in:
optional center = 1
optional sizes = 2
message
observation.proto:44Object detection in 3D or 2D: each detection is a box with a label and confidence.
Used in:
string label = 1
float confidence = 2
oneof box
box_3d = 3
box_2d = 4
message
action.proto:50declares some objects to be found. The objects that are declared found can be determined based on the robot's current field of view, or its updated belief.
Used in:
optional header = 1
string robot_id = 2
the robot that performs this action
string name = 5
message
common.proto:15Used in: , , , , , , , , , , , , , , , , , , , , , , , , , , , ,
optional stamp = 2
string frame_id = 3
string message = 4
information to be attached.
message
common.proto:90histogram representation of of probability distribution Assumes that 'values' and 'probs' have the same length.
Used in:
int64 length = 1
repeated values = 2
repeated double probs = 3
message
action.proto:58This is a generic action type, used to support other actions such as environment interaction.
Used in:
optional header = 1
string robot_id = 2
the robot that performs this action
string type = 3
identifies the action type
int32 num_fields = 4
number of key-value pairs
repeated string keys = 5
parameter names for this action
repeated string values = 6
parameter values for this action
message
observation.proto:60Language input as observation
Used in:
optional header = 1
string robot_id = 2
the receiver of this observation
string text = 3
string type = 4
type of language. E.g. 'spatial'
message
action.proto:19Used in:
oneof dtrans
dpos = 1
double forward = 2
double dth = 3
message
action.proto:11Used in:
optional dpos = 1
oneof drot
drot_euler = 2
in degrees
drot_quat = 3
message
action.proto:27Used in:
optional header = 1
string robot_id = 2
the robot that performs this action
oneof pose
The pose of the viewpoint
dest_3d = 3
dest_2d = 4
oneof motion
The relative motion with respect to current viewpoint
motion_2d = 5
motion_3d = 6
string name = 7
name of the action
float expected_cost = 8
message
genmos_object_search.proto:286Used in:
string object_id = 1
optional dist = 2
Scope scope = 4
local or global scope
message
observation.proto:53Used in:
optional header = 1
string robot_id = 2
the receiver of this observation
repeated detections = 3
message
observation.proto:95List of object ids that are (just) found
Used in: ,
optional header = 1
string robot_id = 2
repeated string object_ids = 3
message
observation.proto:18Occupancy grid: a 2D representation of the whole or a region of the search environment as a set of grid locations, each could be either free, occupied or unknown
Used in:
optional header = 1
string robot_id = 2
the receiver of this observation
repeated grids = 3
message
observation.proto:19Used in:
optional pos = 1
string type = 2
free, occupied, or unknown
message
observation.proto:32Point cloud: a 3D representation of the whole or a region of the search environment as a set of points. Each point has a x, y, z location.
Used in:
optional header = 1
string robot_id = 2
the receiver of this observation
repeated points = 3
message
observation.proto:33Used in:
optional pos = 1
message
common.proto:22/////// Geometry related ///////////////
Used in: ,
double x = 1
double y = 2
double th = 3
typically degrees
message
common.proto:28Used in: , ,
optional position = 1
optional rotation = 2
message
common.proto:44Used in: ,
double x = 1
double y = 2
double z = 3
double w = 4
message
genmos_object_search.proto:294Used in:
string robot_id = 1
optional pose = 2
robot pose (exact or a distribution; see RobotPose message definition)
optional objects_found = 3
objects found
Scope scope = 4
local or global scope
optional topo_map = 5
topo map, if the robot has one. Note that both local or global searcher may have a topo map
message
observation.proto:78The POMDP agent allows the robot to have uncertainty over its pose. It expects a localization module on the system will output estimates about the robot pose, with uncertainty represented by a covariance matrix. The robot pose determines where the robot receives observation. By default, it should be the pose of the camera or some other sensor through which sensor data for object detection is received.
Used in: , ,
optional header = 1
string robot_id = 2
oneof pose
pose_2d = 3
pose_3d = 4
repeated double covariance = 5
This is a row-major covariance matrix. For 2D pose, the variables are [x y yaw] For 3D pose, the variables are [x y z thx thy thz] (the last three are rotations about the respective axes]
Used to indicate whether a message pertains to local search or global search.
Used in: , , ,
LOCAL = 0
GLOBAL = 1
message
genmos_object_search.proto:258/////////////////////////////////// Auxiliary messages ///////////////////////////////////
Used in:
optional double layout_cut = 1
optional double floor_cut = 2
optional double grid_size = 3
optional double brush_size = 4
optional double region_size = 5
optional bool debug = 6
optional bool include_free = 7
optional bool include_obstacles = 8
optional double expansion_width = 9
message
genmos_object_search.proto:270Used in:
optional int32 octree_size = 1
optional double search_space_resolution = 2
optional bool debug = 3
optional double region_size_x = 4
optional double region_size_y = 5
optional double region_size_z = 6
enum Status
common.proto:9/////// Generic communication ///////////////
Used in: , , , , , , , ,
SUCCESSFUL = 0
FAILED = 1
PENDING = 2
message
genmos_object_search.proto:315Used in:
string id = 1
optional node1 = 2
optional node2 = 3
message
genmos_object_search.proto:311Used in:
repeated edges = 1
message
genmos_object_search.proto:321Used in:
string id = 1
oneof pos
pos_3d = 2
pos_2d = 3
message
common.proto:39Used in: , ,
double x = 1
double y = 2
message
common.proto:33Used in: , , , , ,
double x = 1
double y = 2
double z = 3
message
common.proto:68Voxel in 3D with optional resolution useful for octree representation. Designed to represents a voxel in the world frame.
optional pos = 1
optional double res = 3
res means the number of unit grid cells along one major axis. Note that the length here is in the world frame (not in pomdp frame), therefore, this could be any floating number.
message
common.proto:79/////// Probability distribution /////////////// particle representation of probability distribution of random variable X. A possible value of X is x.
repeated particles = 1
message
common.proto:80Used in:
optional x = 1
double weight = 2