Grasp Planner Configuration File

The grasp planner aims to be highly customizable, and this customization is done using the configuration file, that is typically stored in the config folder of your package. The YAML format is used for this file for better understanding and readability.

Due to the huge number of parameters that can be tweaked, the parameters can be divided into the following subgroups, where explanation of each parameter will be provided

• Grasp Planner General Parameters
  • Parameter Descriptions
• Grasp Planner Finger Parameters
  • Physical Attributes
  • Coordinate System Attributes
  • Grasp Planning Attributes
• Grasp Planner Suction Parameters
  • Physical Attributes
  • Coordinate System Attributes
  • Grasp Planning Attributes

Sample configuration yaml file

If you are unsure of how to begin writing a yaml file, the following is an example of the full configuration of the yaml file.

grasp_planning_node:
  ros__parameters:
    grasp_output_topic: "/grasp_tasks"
    easy_perception_deployment:
      epd_enabled: false
      tracking_enabled: false
      epd_topic: "/processor/epd_localize_output"
    camera_parameters:
      point_cloud_topic: "/camera/pointcloud"
      camera_frame: "camera_color_optical_frame"
    point_cloud_params:
      passthrough_filter_limits_x: [-0.50, 0.50]
      passthrough_filter_limits_y: [-0.15, 0.40]
      passthrough_filter_limits_z: [0.01, 0.70]
      segmentation_max_iterations: 50
      segmentation_distance_threshold: 0.01
      cluster_tolerance: 0.01
      min_cluster_size: 750
      cloud_normal_radius: 0.03
      fcl_voxel_size: 0.02
    end_effectors:
      end_effector_names: [finger_gripper_1, suction_gripper_1]
      finger_gripper_1:
        type: finger
        num_fingers_side_1: 1
        num_fingers_side_2: 1
        distance_between_fingers_1: 0.0
        distance_between_fingers_2: 0.0
        finger_thickness: 0.02
        gripper_stroke: 0.105
        gripper_coordinate_system:
          grasp_stroke_direction: "x"
          grasp_stroke_normal_direction: "y"
          grasp_approach_direction: "z"
        grasp_planning_params:
          grasp_plane_dist_limit: 0.007
          voxel_size: 0.01
          grasp_rank_weight_1: 1.5
          grasp_rank_weight_2: 1.0
          world_x_angle_threshold: 0.5
          world_y_angle_threshold: 0.5
          world_z_angle_threshold: 0.25
      suction_gripper_1:
        type: suction
        num_cups_length: 1
        num_cups_breadth: 1
        dist_between_cups_length: 0.06
        dist_between_cups_breadth: 0.06
        cup_radius: 0.005
        cup_height: 0.01
        gripper_coordinate_system:
          length_direction: "x"
          breadth_direction: "y"
          grasp_approach_direction: "z"
        grasp_planning_params:
          num_sample_along_axis: 3
          search_resolution: 0.01
          search_angle_resolution: 4
          weights:
            curvature: 1.0
            grasp_distance_to_center: 1.0
            number_contact_points: 1.0
    visualization_params:
      point_cloud_visualization: true