Grasp Planner Finger Parameters

grasp_planning_node:
  ros__parameters:
    ...
    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