Interfaces

Reference for every .action, .srv, and .msg under frida_interfaces/manipulation/. Endpoint names live in frida_constants/manipulation_constants.py, always import them, never hard-code.

Conventions used below

Each block reproduces the exact content of the corresponding .action/.srv/.msg file.
Action sections are separated into Goal / Result / Feedback by the --- lines.
All distances are in meters, angles in radians (unless noted), velocities in m/s.

Top-level action

`ManipulationAction.action`

The only action a task manager should call for picking / placing / pouring.

# Goal
int8 task_type                # ManipulationTask.{PICK, PICK_CLOSEST, PLACE, POUR}
PickParams pick_params
PlaceParams place_params
PourParams pour_params
bool scan_environment         # if true, sweep + keep the octomap (used for shelves)
---
# Result
int32 success                 # 1 on success, 0 on failure
---
# Feedback
string execution_state        # human-readable progress

Server: /manipulation/manipulation_action_server (constant MANIPULATION_ACTION_SERVER).

`ManipulationTask.msg`

int8 PICK         = 0
int8 PICK_CLOSEST = 1
int8 PLACE        = 2
int8 POUR         = 3

`PickParams.msg`

geometry_msgs/PointStamped object_point   # optional explicit 3D point; ignored if object_name resolves via vision
string object_name                        # label (must match a vision class or zero-shot input)
float32 max_distance                      # detection filter bounds (m)
float32 min_distance
bool closest                              # prefer closest detection
bool largest                              # prefer largest cluster
bool in_configuration                     # if false, the arm will move to a stare pose first

`PlaceParams.msg`

float32 table_height                      # override detected plane (m)
float32 table_height_tolerance
bool is_shelf                             # keep octomap, stay in current pose
string close_to                           # name of a known object to bias toward
string special_request                    # JSON, see below
geometry_msgs/PoseStamped forced_pose     # if non-empty, skip heatmap and use this

special_request JSON examples

{"request":"close_by","object":"sugar","position":"left"}
{"request":"close_by","object":"box","position":"front"}

Valid position values: close, front, back, left, right.

`PourParams.msg`

string object_name              # what to pour (must be in POUR_OBJECT_NAMES if upright)
string bowl_name                # what to pour into
bool object_already_grasped     # if true, skip the pick stage

`PickResult.msg`

geometry_msgs/PoseStamped pick_pose
float32 grasp_score
string object_name
float32 object_pick_height      # detected object height (m)
float32 object_height

Internal motion actions

`PickMotion.action`

# Goal
geometry_msgs/PoseStamped[] grasping_poses
float64[]                   grasping_scores
string                      object_name
---
# Result
int32      success
PickResult pick_result
---
# Feedback
string execution_state

Server: /manipulation/pick_motion_action_server. Picks the best of grasping_poses (scored by grasping_scores) and executes approach / descend / grasp / lift.

`PlaceMotion.action`

# Goal
geometry_msgs/PoseStamped place_pose
string                    object_name
PlaceParams               place_params
---
# Result
int32 success
---
# Feedback
string execution_state

Server: /manipulation/place_motion_action_server.

`PourMotion.action`

# Goal
geometry_msgs/PoseStamped pour_pose
frida_interfaces/PickResult pick_result
bool                      object_already_grasped
---
# Result
int32      success
PickResult pour_result
---
# Feedback
string execution_state

Server: /manipulation/pour_motion_action_server. The PourParams from the top-level action are unpacked by manipulation_core; the internal action receives the computed pour pose and the prior pick result.

`MoveToPose.action`

# Goal
geometry_msgs/PoseStamped pose
float32 velocity
float32 acceleration
float32 planning_time
int32   planning_attempts
float32 tolerance_position
float32 tolerance_orientation
string  planner_id
string  target_link            # default: link_eef
bool    apply_constraint
frida_interfaces/Constraint constraint
---
# Result
int32 success
---
# Feedback
string execution_state

Server: /manipulation/move_to_pose_action_server.

`MoveJoints.action`

# Goal
float64[] joint_positions
string[]  joint_names           # if empty, joints in chain order
float32   velocity
float32   acceleration
float32   planning_time
int32     planning_attempts
string    planner_id
bool      apply_constraint
frida_interfaces/Constraint constraint
---
# Result
int32 success
---
# Feedback
string execution_state

Server: /manipulation/move_joints_action_server.

No named_position field on the action

The Python helper frida_motion_planning.utils.service_utils.move_joint_positions(named_position=...) resolves the name from frida_constants.xarm_configurations and fills joint_positions before sending the goal.

`GoToHand.action`

# Goal
geometry_msgs/PointStamped point
float32 hand_offset 0.1
---
# Result
int32 success
---
# Feedback
string execution_state

Server: /manipulation/go_to_hand_action_server. Used by HRIC: vision publishes a hand point, the EE stops hand_offset short of it along the approach axis.

Services

Perception

`PickPerceptionService.srv` (test_only_orchestrator)

geometry_msgs/PointStamped point
bool                       add_collision_objects
---
sensor_msgs/PointCloud2 cluster_result

`PlacePerceptionService.srv` (test_only_orchestrator)

PlaceParams place_params
---
sensor_msgs/PointCloud2 cluster_result

`GraspDetection.srv` (gpd_service)

# Request
string                  cfg_path
string                  pcd_path
sensor_msgs/PointCloud2 input_cloud
---
# Response
bool                          success
string                        message
geometry_msgs/PoseStamped[]   grasp_poses
float64[]                     grasp_scores

`HeatmapPlace.srv` (heatmap_place_service)

sensor_msgs/PointCloud2    pointcloud
bool                       prefer_closest
geometry_msgs/PointStamped close_point
string                     special_request
---
geometry_msgs/PointStamped place_point
bool                       success

`RemovePlane.srv` (plane_service)

bool                       extract_or_remove   # true → return the plane, false → return cloud minus plane
geometry_msgs/PointStamped close_point         # optional
float32                    min_height
float32                    max_height
---
sensor_msgs/PointCloud2 cloud
int32                   health_response

`RemoveVerticalPlane.srv` (plane_service)

Same shape as RemovePlane.srv but targets vertical planes (walls, shelf backs).

`ClusterObjectFromPoint.srv` (plane_service)

geometry_msgs/PointStamped point
bool                       is_get_all_other_surrounding_objects
---
sensor_msgs/PointCloud2 cluster
int32                   status

`AddPickPrimitives.srv` (pick_primitives)

sensor_msgs/PointCloud2 cloud
bool                    is_plane
bool                    is_object
bool                    is_other_objects
---
uint32 status

`GetPlaneBbox.srv` (pick_primitives)

float32 min_height
float32 max_height
---
geometry_msgs/PointStamped pt1
geometry_msgs/PointStamped pt2
geometry_msgs/PointStamped pt3
geometry_msgs/PointStamped pt4
geometry_msgs/PointStamped center
geometry_msgs/PointStamped highest
geometry_msgs/PointStamped lowest
int32                      health_response
bool                       state

Motion planning scene (motion_planning_server)

`AddCollisionObjects.srv`

frida_interfaces/CollisionObject[] collision_objects
---
bool success

`RemoveCollisionObject.srv`

string id
bool   include_attached
---
bool success

`AttachCollisionObject.srv`

string   id
string   attached_link
string[] touch_links
bool     detach
---
bool success

`GetCollisionObjects.srv`

---
frida_interfaces/CollisionObject[] collision_objects
bool                               success

Arm state and motion

`GetJoints.srv` (motion_planning_server)

---
float32[] joint_positions
string[]  joint_names

`ToggleServo.srv` (motion_planning_server)

bool enable
---
bool success

Other

`PlayTrayectory.srv` (motion_planning_server)

Replays a recorded joint trajectory by name.

`DockToHandle.srv` (dock_to_handle.py)

Wraps the nav2 Dock action to align with a previously-published door handle pose.

`Test.srv` (plane_service)

string base_name
---
int32 success

Internal smoke test.

Messages

`CollisionObject.msg`

string                    id
string                    type
geometry_msgs/PoseStamped pose
geometry_msgs/Point       dimensions  # length, width, height
shape_msgs/Mesh           mesh
string                    path_to_mesh

`Constraint.msg`

geometry_msgs/Quaternion orientation
string                   frame_id
string                   target_link
float64[]                tolerance_orientation
float64                  weight
int32                    parameterization

`GripperGraspState.msg`

bool object_detected

Published on /gripper/grasp_state.

Topic reference

Topic	Direction	Purpose
`/manipulation/flat_grasp_pose`	pub: `flat_grasp_estimator`	Live top-down cutlery grasp candidate.
`/gripper/grasp_state`	pub: gripper driver	`GripperGraspState`, has-contact flag.
`/manipulation/table_place_point_debug`	pub: `heatmap_place_service`	Last place point chosen.
`/manipulation/debug_pose_goal`	pub: `motion_planning_server`	Last pose goal received.
`/manipulator/place_ee_link_pose`	pub: `place_server`	Last EE pose used in a place.
`/manipulation/debug_object_point`	pub: `PourManager`	Pour: object 3D point.
`/manipulation/debug_bowl_point`	pub: `PourManager`	Pour: bowl 3D point.
`/manipulation/debug_bowl_centroid`	pub: `PourManager`	Pour: bowl cluster centroid.
`/clicked_point`	sub: `manipulation_client`	RViz click → trigger pick.
`/clear_octomap`	service `std_srvs/Empty`	MoveIt octomap reset.
`/zed/zed_node/point_cloud/cloud_registered`	sensor	Raw ZED point cloud (real robot).
`/filtered_cloud`	filter	MoveIt self-filtered cloud (sim default input).
`/point_cloud`	downsampled	Default input to perception.

For any name not in this table, grep frida_constants/manipulation_constants.py, it is the source of truth.

Interfaces

Top-level action

ManipulationAction.action

ManipulationTask.msg

PickParams.msg

PlaceParams.msg

PourParams.msg

PickResult.msg

Internal motion actions

PickMotion.action

PlaceMotion.action

PourMotion.action

MoveToPose.action

MoveJoints.action

GoToHand.action

Services

Perception

PickPerceptionService.srv (test_only_orchestrator)

PlacePerceptionService.srv (test_only_orchestrator)

GraspDetection.srv (gpd_service)

HeatmapPlace.srv (heatmap_place_service)

RemovePlane.srv (plane_service)

RemoveVerticalPlane.srv (plane_service)

ClusterObjectFromPoint.srv (plane_service)

AddPickPrimitives.srv (pick_primitives)

GetPlaneBbox.srv (pick_primitives)