Template files

The files collected in this folder are templates to be filled in order to evaluate the benchmark scores on the data collected on your robot. Hereafter, we briefly explain the meaning of the data contained in this file. This information is useful to understand how to fill them with the data collected on your robot.

Reachability and camera calibration data

When filling the reachability or camera calibration file is important to:

• Specify the name of the set of poses your testing (e.g. Set of Poses 1 in this case). GRASPA will use this tag to compare the data you collected with the proper corresponding desired poses.

  <Scene name="Set_Poses_1">

• Store each pose in a ManipulationObject node with the proper name (e.g. Reachable_frame00 in this case). This name is used by the benchmark to compare the reached pose with the corresponding desired pose. The pose needs to be expressed in the board reference frame (see this image).

      <ManipulationObject name='Reachable_frame00'>
          <File>objects/frame.xml</File>
          <GlobalPose>
              <Transform>
                  <Matrix4x4>
                      <row1 c1='0' c2='0'  c3='-1' c4='0'/>
                      <row2 c1='1' c2='0'  c3='0'  c4='0'/>
                      <row3 c1='0' c2='-1' c3='0' c4='150'/>
                      <row4 c1='0' c2='0'  c3='0'  c4='1'/>
                  </Matrix4x4>
             </Transform>
          </GlobalPose>
      </ManipulationObject>

• (Optional) Add the Table and Frame entities as Obstacle nodes to visualize them in the viewer:

      <Obstacle name='Table'>
          <Visualization>
  		<File type='inventor'>objects/iv/layout_base_noboard.iv</File>
  		<UseAsCollisionModel/>
          </Visualization>
          <GlobalPose>
              <Transform>
                  <Matrix4x4>
                      <row1 c1='1' c2='0' c3='0' c4='-267'/>
                      <row2 c1='0' c2='1' c3='0' c4='178'/>
                      <row3 c1='0' c2='0' c3='1' c4='-2'/>
                      <row4 c1='0' c2='0' c3='0' c4='1'/>
                  </Matrix4x4>
              </Transform>
           </GlobalPose>
      </Obstacle>
  
      <Obstacle name='Frame'>
           <Visualization>
              <File>data/objects/misc/frame.wrl</File>
           </Visualization>
           <GlobalPose>
               <Transform>
                   <Matrix4x4>
                       <row1 c1='1' c2='0' c3='0' c4='-0'/>
                       <row2 c1='0' c2='1' c3='0' c4='-0'/>
                       <row3 c1='0' c2='0' c3='1' c4='0'/>
                       <row4 c1='0' c2='0' c3='0' c4='1'/>
                   </Matrix4x4>
               </Transform>
           </GlobalPose>
       </Obstacle>

• Close the root node:

    </Scene>

Grasps data

The grasps data must be collected separately for each layout and for each object in the layout. Missing data will lead to altered benchmark scores. An example of complete grasps data collected on the iCub humanoid robot is available in GRASPA-test.

When filling the grasps file, you need to:

• Rename the grasp file as Ycb+ name of the object in camel case + _grasp.xml (see the file names used in these folders for clarity.

• Add a ManipulationObject node with the name of the object under test. Accepted object names are listed here, as folder names.

  <ManipulationObject name="banana">
     <Visualization>
         <File type="inventor">../../../GRASP-benchmark/data/objects/YCB/banana/./nontextured.stl</File>
     </Visualization>
     <CollisionModel>
         <File type="inventor">../../../GRASP-benchmark/data/objects/YCB/banana/./nontextured.stl</File>
     </CollisionModel>

• Specify the test layout, the robot and the end-effector used:

       <GraspSet name="Benchmark_Layout_0" RobotType="iCub" EndEffector="Right Hand">

• For each grasp executed, specify the grasp name and 6D pose:

            <Grasp name="Grasp 0" quality="0" Creation="Simox - GraspStudio - GraspWrenchSpace" Preshape="Grasp Preshape">
                <Transform>
                    <Matrix4x4>
                        <row1 c1="0.027" c2="0.994" c3="-0.110" c4="-242.660" />
                        <row2 c1="0.816" c2="-0.086" c3="-0.572" c4="122.864" />
                        <row3 c1="-0.578" c2="-0.074" c3="-0.813" c4="52.416" />
                        <row4 c1="0" c2="0" c3="0" c4="1" />
                    </Matrix4x4>
                </Transform>
            </Grasp>

  The grasp pose needs to be expressed in the board reference frame.

• Close the ManipulationObject node:

  </ManipulationObject>   

• Add information on the graspability of the object:

  <Graspable quality="1" />

• Add information on the success of the executed grasp, the grasp stability and the object avoidance (if in the cluttered mode):

   <Grasped>
       <Grasp name="Grasp 0" quality="1" />
        ...
   </Grasped>
   <GraspStability>
       <Grasp name="Grasp 0" quality="0.25" />
       ...
   </GraspStability>
   <ObstacleAvoidance>
       <Grasp name="Grasp 0" quality="0" />
       ...
   </ObstacleAvoidance>

The ComputedQuality node you can see in the data collected on the iCub is added by the compute-grasp-quality-with-visu executable when processing the information on the grasp pose. The use is not required to manually add it in the grasps data file.