A brief description. More...

#include <VisionX/components/AffordancePipelineVisualization/AffordancePipelineVisualization.h>

Inheritance diagram for AffordanceExtraction:

Public Member Functions
void	addObservation (const PoseBasePtr &endEffectorPose, const std::string &affordance, const std::string &primitiveId, float result, float certainty, float sigma_pos, float sigma_rot, const Ice::Current &c=Ice::emptyCurrent) override

	AffordanceExtraction ()

void	disablePipelineStep (const Ice::Current &c=Ice::emptyCurrent) override

void	enablePipelineStep (const Ice::Current &c=Ice::emptyCurrent) override

void	exportScene (const std::string &filename, const Ice::Current &c=Ice::emptyCurrent) override

std::string	getDefaultName () const override

armarx::TimestampBasePtr	getLastProcessedTimestamp (const Ice::Current &c=Ice::emptyCurrent) override

void	importScene (const std::string &filename, const Ice::Current &c=Ice::emptyCurrent) override

bool	isPipelineStepEnabled (const Ice::Current &c=Ice::emptyCurrent) override

void	reportNewPointCloudSegmentation (const Ice::Current &c=Ice::emptyCurrent) override

Public Member Functions inherited from Component
virtual void	componentPropertiesUpdated (const std::set< std::string > &changedProperties)
	Implement this function if you would like to react to changes in the properties.

void	forceComponentCreatedByComponentCreateFunc ()
	forces the flag to be set to true that the object instance was created by the Component::create function

std::vector< PropertyUserPtr >	getAdditionalPropertyUsers () const

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class ProxyType>
ProxyType	getProxyFromProperty (const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Get a proxy whose name is specified by the given property.

template<class ProxyType>
void	getProxyFromProperty (ProxyType &proxy, const std::string &propertyName, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)

template<class TopicProxyType>
TopicProxyType	getTopicFromProperty (const std::string &propertyName)
	Get a topic proxy whose name is specified by the given property.

template<class TopicProxyType>
void	getTopicFromProperty (TopicProxyType &top, const std::string &propertyName)

void	initializeProperties (const std::string &configName, Ice::PropertiesPtr const &properties, const std::string &configDomain)
	initializes the properties of this component.

void	injectPropertyDefinitions (PropertyDefinitionsPtr &props) override

void	offeringTopicFromProperty (const std::string &propertyName)
	Offer a topic whose name is specified by the given property.

virtual void	preOnConnectComponent () override

virtual void	preOnInitComponent () override

bool	usingProxyFromProperty (const std::string &propertyName, const std::string &endpoints="")
	Use a proxy whose name is specified by the given property.

void	usingTopicFromProperty (const std::string &propertyName, bool orderedPublishing=false)
	Use a topic whose name is specified by the given property.

Public Member Functions inherited from ManagedIceObject
void	enableProfiler (bool enable)
	setProfiler allows setting ManagedIceObject::profiler to a new instance (if the new instance is actually not a null pointer)

std::string	generateSubObjectName (const std::string &subObjectName)
	Generates a unique name for a sub object from a general name.

ArmarXManagerPtr	getArmarXManager () const
	Returns the ArmarX manager used to add and remove components.

ManagedIceObjectConnectivity	getConnectivity () const
	Retrieve connectivity of the object (topcis as well as proxies)

IceManagerPtr	getIceManager () const
	Returns the IceManager.

VariantBasePtr	getMetaInfo (const std::string &id)

StringVariantBaseMap	getMetaInfoMap () const

std::string	getName () const
	Retrieve name of object.

Ice::ObjectAdapterPtr	getObjectAdapter () const
	Returns object's Ice adapter.

ArmarXObjectSchedulerPtr	getObjectScheduler () const

PeriodicTaskPtr	getPeriodicTask (const std::string &name)

Profiler::ProfilerPtr	getProfiler () const
	getProfiler returns an instance of armarx::Profiler

template<class ProxyTarg, class... Args>
void	getProxy (const char *name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyType>
ProxyType	getProxy (const std::string &name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Retrieves a proxy object.

template<class ProxyTarg, class... Args>
void	getProxy (const std::string &name, IceInternal::ProxyHandle< ProxyTarg > &proxy, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const char *name, Args &&... args)

template<class ProxyTarg, class... Args>
void	getProxy (IceInternal::ProxyHandle< ProxyTarg > &proxy, const std::string &name, Args &&... args)
	Assigns a proxy to `proxy`.

Ice::ObjectPrx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const
	Returns the proxy of this object (optionally it waits for the proxy)

template<class Prx>
Prx	getProxy (long timeoutMs=0, bool waitForScheduler=true) const

template<class ProxyType>
void	getProxy (ProxyType &proxy, const char *name, bool addToDependencies=false, const std::string &endpoints="", bool throwOnProxyError=true)
	Overload to allow using string literals as name (solve ambiguous overload).

template<class Prx>
void	getProxy (Prx &prx, long timeoutMs=0, bool waitForScheduler=true) const

int	getState () const
	Retrieve current state of the ManagedIceObject.

template<class TopicProxyType>
TopicProxyType	getTopic (const std::string &name)
	Returns a proxy of the specified topic.

template<class TopicProxyType>
void	getTopic (TopicProxyType &topicProxy, const std::string &name)
	Assigns a proxy of the specified topic to `topicProxy`.

std::vector< std::string >	getUnresolvedDependencies () const
	returns the names of all unresolved dependencies

	ManagedIceObject (ManagedIceObject const &other)

void	offeringTopic (const std::string &name)
	Registers a topic for retrival after initialization.

void	preambleGetTopic (std::string const &name)

void	setMetaInfo (const std::string &id, const VariantBasePtr &value)
	Allows to set meta information that can be queried live via Ice interface on the ArmarXManager.

void	startPeriodicTask (const std::string &uniqueName, std::function< void(void)> f, int periodMs, bool assureMeanInterval=false, bool forceSystemTime=true)

bool	stopPeriodicTask (const std::string &name)

bool	unsubscribeFromTopic (const std::string &name)
	Unsubscribe from a topic.

bool	usingProxy (const std::string &name, const std::string &endpoints="")
	Registers a proxy for retrieval after initialization and adds it to the dependency list.

void	usingTopic (const std::string &name, bool orderedPublishing=false)
	Registers a proxy for subscription after initialization.

void	waitForObjectScheduler ()
	Waits until the ObjectScheduler could resolve all dependencies.

void	waitForProxy (std::string const &name, bool addToDependencies)

Public Member Functions inherited from Logging
SpamFilterDataPtr	deactivateSpam (float deactivationDurationSec=10.0f, const std::string &identifier="", bool deactivate=true) const
	disables the logging for the current line for the given amount of seconds.

MessageTypeT	getEffectiveLoggingLevel () const

	Logging ()

void	setLocalMinimumLoggingLevel (MessageTypeT level)
	With setLocalMinimumLoggingLevel the minimum verbosity-level of log-messages can be set.

void	setTag (const LogTag &tag)

void	setTag (const std::string &tagName)

virtual	~Logging ()

Public Member Functions inherited from PropertyUser
std::vector< std::string >	getComponentProxyNames ()

Ice::PropertiesPtr	getIceProperties () const
	Returns the set of Ice properties.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name)
	Property creation and retrieval.

template<typename PropertyType>
Property< PropertyType >	getProperty (const std::string &name) const
	Hack to allow using getProperty in `const`-modified methods.

template<class T>
void	getProperty (std::atomic< T > &val, const std::string &name) const

template<class T>
void	getProperty (T &val, const std::string &name) const

template<class T>
std::vector< T >	getPropertyAsCSV (const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

template<class ContainerT>
void	getPropertyAsCSV (ContainerT &val, const std::string &name, const std::string &splitBy=",;", bool trimElements=true, bool removeEmptyElements=true)

PropertyDefinitionsPtr	getPropertyDefinitions ()
	Returns the component's property definition container.

std::vector< std::string >	getSubscribedTopicNames ()

std::vector< std::string >	getTopicProxyNames ()

bool	hasProperty (const std::string &name)

	PropertyUser ()

virtual void	setIceProperties (Ice::PropertiesPtr properties)
	Sets the Ice properties.

bool	tryAddProperty (const std::string &propertyName, const std::string &value)

virtual void	updateIceProperties (const std::map< std::string, std::string > &changes)

void	updateProperties ()

void	updateProxies (IceManagerPtr)

	~PropertyUser () override

Protected Member Functions
void	affordanceExtractionThread ()

PropertyDefinitionsPtr	createPropertyDefinitions () override

void	onConnectComponent () override

void	onDisconnectComponent () override

void	onExitComponent () override

void	onInitComponent () override

Protected Member Functions inherited from Component
void	addPropertyUser (const PropertyUserPtr &subPropertyUser)
	Add additional property users here that should show up in the application help text.

	Component ()
	Protected default constructor. Used for virtual inheritance. Use createManagedIceObject() instead.

PropertyDefinitionsPtr	createPropertyDefinitions () override

std::string	getConfigDomain ()
	Retrieve config domain for this component as set in constructor.

std::string	getConfigIdentifier ()
	Retrieve config identifier for this component as set in constructor.

std::string	getConfigName ()
	Retrieve config name for this component as set in constructor.

virtual void	icePropertiesInitialized ()

Protected Member Functions inherited from ManagedIceObject
template<class PluginT, class... ParamsT>
PluginT *	addPlugin (const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (PluginT *&targ, const std::string prefix="", ParamsT &&... params)

template<class PluginT, class... ParamsT>
void	addPlugin (std::experimental::observer_ptr< PluginT > &targ, const std::string prefix="", ParamsT &&... params)

Ice::CommunicatorPtr	getCommunicator () const

std::unique_ptr< ManagedIceObjectPlugin > &	getPluginPointer (std::type_info const &type, std::string const &prefix)

	ManagedIceObject ()
	Protected default constructor.

virtual void	postOnConnectComponent ()

virtual void	postOnDisconnectComponent ()

virtual void	postOnExitComponent ()

virtual void	postOnInitComponent ()

virtual void	preOnDisconnectComponent ()

virtual void	preOnExitComponent ()

bool	removeProxyDependency (const std::string &name)
	This function removes the dependency of this object on the in parameter name specified object.

void	setName (std::string name)
	Override name of well-known object.

void	terminate ()
	Initiates termination of this IceManagedObject.

	~ManagedIceObject () override

Protected Member Functions inherited from Logging
bool	checkLogLevel (MessageTypeT level) const

const LogSenderPtr &	getLogSender () const
	Retrieve log sender.

LogSenderPtr	loghelper (const char file, int line, const char function) const

Protected Attributes
float	affordanceExtractionCertainty

PeriodicTask< AffordanceExtraction >::pointer_type	affordanceExtractionTask

std::set< std::string >	affordanceRestriction

memoryx::AffordanceSegmentBasePrx	affordanceSegment

std::mutex	affordancesMutex

std::map< std::string, memoryx::AffordanceType >	affordanceTypes

std::vector< AffordanceKit::BimanualAffordancePtr >	bimanualAffordances

AffordanceKit::BimanualAlignedGraspAffordancePtr	bimanualAlignedGraspAffordance

AffordanceKit::BimanualAlignedPlatformGraspAffordancePtr	bimanualAlignedPlatformGraspAffordance

AffordanceKit::BimanualAlignedPrismaticGraspAffordancePtr	bimanualAlignedPrismaticGraspAffordance

AffordanceKit::BimanualGraspAffordancePtr	bimanualGraspAffordance

AffordanceKit::BimanualLiftAffordancePtr	bimanualLiftAffordance

AffordanceKit::BimanualOpposedGraspAffordancePtr	bimanualOpposedGraspAffordance

AffordanceKit::BimanualOpposedPlatformGraspAffordancePtr	bimanualOpposedPlatformGraspAffordance

AffordanceKit::BimanualOpposedPrismaticGraspAffordancePtr	bimanualOpposedPrismaticGraspAffordance

AffordanceKit::BimanualPlatformGraspAffordancePtr	bimanualPlatformGraspAffordance

AffordanceKit::BimanualPrismaticGraspAffordancePtr	bimanualPrismaticGraspAffordance

AffordanceKit::BimanualTurnAffordancePtr	bimanualTurnAffordance

DebugObserverInterfacePrx	debugObserver

AffordanceKit::EmbodimentPtr	embodiment

bool	enabled

std::mutex	enableMutex

memoryx::EnvironmentalPrimitiveSegmentBasePrx	environmentalPrimitiveSegment

AffordanceKit::GraspAffordancePtr	graspAffordance

bool	hasNewPrimitives

AffordanceKit::HoldAffordancePtr	holdAffordance

long	lastProcessedTimestamp

AffordanceKit::LeanAffordancePtr	leanAffordance

AffordanceKit::LiftAffordancePtr	liftAffordance

AffordanceExtractionListenerPrx	listenerPrx

unsigned int	maxPrimitiveSamplingSize

AffordanceKit::PlatformGraspAffordancePtr	platformGraspAffordance

AffordanceKit::PrimitiveSetPtr	primitiveSegmentation

std::mutex	primitivesMutex

AffordanceKit::PrismaticGraspAffordancePtr	prismaticGraspAffordance

AffordanceKit::PullAffordancePtr	pullAffordance

AffordanceKit::PushAffordancePtr	pushAffordance

AffordanceKit::SupportAffordancePtr	supportAffordance

std::mutex	timestampMutex

AffordanceKit::TurnAffordancePtr	turnAffordance

std::vector< AffordanceKit::UnimanualAffordancePtr >	unimanualAffordances

memoryx::WorkingMemoryInterfacePrx	workingMemoryPrx

Protected Attributes inherited from Logging
MessageTypeT	minimumLoggingLevel

SpamFilterDataPtr	spamFilter

LogTag	tag

Additional Inherited Members
Public Types inherited from ManagedIceObject
using	PeriodicTaskPtr = IceUtil::Handle<SimplePeriodicTask<std::function<void(void)>>>

Static Public Member Functions inherited from Component
template<class T, class TPtr = IceInternal::Handle<T>>
static TPtr	create (Ice::PropertiesPtr properties=Ice::createProperties(), const std::string &configName="", const std::string &configDomain="ArmarX")
	Factory method for a component.

Static Public Member Functions inherited from ManagedIceObject
static std::string	generateSubObjectName (const std::string &superObjectName, const std::string &subObjectName)
	Generates a unique name for a sub object from a general name and unique name.

static std::string	GetObjectStateAsString (int state)

Static Public Attributes inherited from ManagedIceObject
static const ManagedIceObjectPtr	NullPtr
	A nullptr to be used when a const ref to a nullptr is required.

Detailed Description

A brief description.

Detailed Description

Constructor & Destructor Documentation

◆ AffordanceExtraction()

AffordanceExtraction ( )

Member Function Documentation

◆ addObservation()

void addObservation	(	const PoseBasePtr &	endEffectorPose,
		const std::string &	affordance,
		const std::string &	primitiveId,
		float	result,
		float	certainty,
		float	sigma_pos,
		float	sigma_rot,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ affordanceExtractionThread()

void affordanceExtractionThread ( )

protected

◆ createPropertyDefinitions()

PropertyDefinitionsPtr createPropertyDefinitions ( )

overrideprotectedvirtual

See also: PropertyUser::createPropertyDefinitions()

Implements PropertyUser.

◆ disablePipelineStep()

void disablePipelineStep ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ enablePipelineStep()

void enablePipelineStep ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ exportScene()

void exportScene	(	const std::string &	filename,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ getDefaultName()

std::string getDefaultName ( ) const

inlineoverridevirtual

See also: armarx::ManagedIceObject::getDefaultName()

Implements ManagedIceObject.

◆ getLastProcessedTimestamp()

armarx::TimestampBasePtr getLastProcessedTimestamp ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ importScene()

void importScene	(	const std::string &	filename,
		const Ice::Current &	c = Ice::emptyCurrent )

override

◆ isPipelineStepEnabled()

bool isPipelineStepEnabled ( const Ice::Current & c = Ice::emptyCurrent )

override

◆ onConnectComponent()

void onConnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onConnectComponent()

Implements ManagedIceObject.

◆ onDisconnectComponent()

void onDisconnectComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onDisconnectComponent()

Reimplemented from ManagedIceObject.

◆ onExitComponent()

void onExitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onExitComponent()

Reimplemented from ManagedIceObject.

◆ onInitComponent()

void onInitComponent ( )

overrideprotectedvirtual

See also: armarx::ManagedIceObject::onInitComponent()

Implements ManagedIceObject.

◆ reportNewPointCloudSegmentation()

void reportNewPointCloudSegmentation ( const Ice::Current & c = Ice::emptyCurrent )

override

Member Data Documentation

◆ affordanceExtractionCertainty

float affordanceExtractionCertainty

protected

◆ affordanceExtractionTask

PeriodicTask<AffordanceExtraction>::pointer_type affordanceExtractionTask

protected

◆ affordanceRestriction

std::set<std::string> affordanceRestriction

protected

◆ affordanceSegment

memoryx::AffordanceSegmentBasePrx affordanceSegment

protected

◆ affordancesMutex

std::mutex affordancesMutex

protected

◆ affordanceTypes

std::map<std::string, memoryx::AffordanceType> affordanceTypes

protected

◆ bimanualAffordances

std::vector<AffordanceKit::BimanualAffordancePtr> bimanualAffordances

protected

◆ bimanualAlignedGraspAffordance

AffordanceKit::BimanualAlignedGraspAffordancePtr bimanualAlignedGraspAffordance

protected

◆ bimanualAlignedPlatformGraspAffordance

AffordanceKit::BimanualAlignedPlatformGraspAffordancePtr bimanualAlignedPlatformGraspAffordance

protected

◆ bimanualAlignedPrismaticGraspAffordance

AffordanceKit::BimanualAlignedPrismaticGraspAffordancePtr bimanualAlignedPrismaticGraspAffordance

protected

◆ bimanualGraspAffordance

AffordanceKit::BimanualGraspAffordancePtr bimanualGraspAffordance

protected

◆ bimanualLiftAffordance

AffordanceKit::BimanualLiftAffordancePtr bimanualLiftAffordance

protected

◆ bimanualOpposedGraspAffordance

AffordanceKit::BimanualOpposedGraspAffordancePtr bimanualOpposedGraspAffordance

protected

◆ bimanualOpposedPlatformGraspAffordance

AffordanceKit::BimanualOpposedPlatformGraspAffordancePtr bimanualOpposedPlatformGraspAffordance

protected

◆ bimanualOpposedPrismaticGraspAffordance

AffordanceKit::BimanualOpposedPrismaticGraspAffordancePtr bimanualOpposedPrismaticGraspAffordance

protected

◆ bimanualPlatformGraspAffordance

AffordanceKit::BimanualPlatformGraspAffordancePtr bimanualPlatformGraspAffordance

protected

◆ bimanualPrismaticGraspAffordance

AffordanceKit::BimanualPrismaticGraspAffordancePtr bimanualPrismaticGraspAffordance

protected

◆ bimanualTurnAffordance

AffordanceKit::BimanualTurnAffordancePtr bimanualTurnAffordance

protected

◆ debugObserver

DebugObserverInterfacePrx debugObserver

protected

◆ embodiment

AffordanceKit::EmbodimentPtr embodiment

protected

◆ enabled

bool enabled

protected

◆ enableMutex

std::mutex enableMutex

protected

◆ environmentalPrimitiveSegment

memoryx::EnvironmentalPrimitiveSegmentBasePrx environmentalPrimitiveSegment

protected

◆ graspAffordance

AffordanceKit::GraspAffordancePtr graspAffordance

protected

◆ hasNewPrimitives

bool hasNewPrimitives

protected

◆ holdAffordance

AffordanceKit::HoldAffordancePtr holdAffordance

protected

◆ lastProcessedTimestamp

long lastProcessedTimestamp

protected

◆ leanAffordance

AffordanceKit::LeanAffordancePtr leanAffordance

protected

◆ liftAffordance

AffordanceKit::LiftAffordancePtr liftAffordance

protected

◆ listenerPrx

AffordanceExtractionListenerPrx listenerPrx

protected

◆ maxPrimitiveSamplingSize

unsigned int maxPrimitiveSamplingSize

protected

◆ platformGraspAffordance

AffordanceKit::PlatformGraspAffordancePtr platformGraspAffordance

protected

◆ primitiveSegmentation

AffordanceKit::PrimitiveSetPtr primitiveSegmentation

protected

◆ primitivesMutex

std::mutex primitivesMutex

protected

◆ prismaticGraspAffordance

AffordanceKit::PrismaticGraspAffordancePtr prismaticGraspAffordance

protected

◆ pullAffordance

AffordanceKit::PullAffordancePtr pullAffordance

protected

◆ pushAffordance

AffordanceKit::PushAffordancePtr pushAffordance

protected

◆ supportAffordance

AffordanceKit::SupportAffordancePtr supportAffordance

protected

◆ timestampMutex

std::mutex timestampMutex

protected

◆ turnAffordance

AffordanceKit::TurnAffordancePtr turnAffordance

protected

◆ unimanualAffordances

std::vector<AffordanceKit::UnimanualAffordancePtr> unimanualAffordances

protected

◆ workingMemoryPrx

memoryx::WorkingMemoryInterfacePrx workingMemoryPrx

protected

The documentation for this class was generated from the following files:

VisionX/components/AffordanceExtraction/AffordanceExtraction.h
VisionX/components/AffordanceExtraction/AffordanceExtraction.cpp

Public Member Functions

Protected Member Functions

Protected Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ AffordanceExtraction()

Member Function Documentation

◆ addObservation()

◆ affordanceExtractionThread()

◆ createPropertyDefinitions()

◆ disablePipelineStep()

◆ enablePipelineStep()

◆ exportScene()

◆ getDefaultName()

◆ getLastProcessedTimestamp()

◆ importScene()

◆ isPipelineStepEnabled()

◆ onConnectComponent()

◆ onDisconnectComponent()

◆ onExitComponent()

◆ onInitComponent()

◆ reportNewPointCloudSegmentation()

Member Data Documentation

◆ affordanceExtractionCertainty

◆ affordanceExtractionTask

◆ affordanceRestriction

◆ affordanceSegment

◆ affordancesMutex

◆ affordanceTypes

◆ bimanualAffordances

◆ bimanualAlignedGraspAffordance

◆ bimanualAlignedPlatformGraspAffordance

◆ bimanualAlignedPrismaticGraspAffordance

◆ bimanualGraspAffordance

◆ bimanualLiftAffordance

◆ bimanualOpposedGraspAffordance

◆ bimanualOpposedPlatformGraspAffordance

◆ bimanualOpposedPrismaticGraspAffordance

◆ bimanualPlatformGraspAffordance

◆ bimanualPrismaticGraspAffordance

◆ bimanualTurnAffordance

◆ debugObserver

◆ embodiment

◆ enabled

◆ enableMutex

◆ environmentalPrimitiveSegment

◆ graspAffordance

◆ hasNewPrimitives

◆ holdAffordance

◆ lastProcessedTimestamp

◆ leanAffordance

◆ liftAffordance

◆ listenerPrx

◆ maxPrimitiveSamplingSize

◆ platformGraspAffordance

◆ primitiveSegmentation

◆ primitivesMutex

◆ prismaticGraspAffordance

◆ pullAffordance

◆ pushAffordance

◆ supportAffordance

◆ timestampMutex

◆ turnAffordance

◆ unimanualAffordances

◆ workingMemoryPrx