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
Physical Attributes¶
Coordinate System Attributes¶
Grasp Planning Attributes¶
- Grasp Planner Finger Parameters (Planning)
- <finger_gripper_name>.grasp_planning_params.grasp_plane_dist_limit
- <finger_gripper_name>.grasp_planning_params.voxel_size
- <finger_gripper_name>.grasp_planning_params.grasp_rank_weight_1
- <finger_gripper_name>.grasp_planning_params.grasp_rank_weight_2
- <finger_gripper_name>.grasp_planning_params.world_x_angle_threshold
- <finger_gripper_name>.grasp_planning_params.world_y_angle_threshold
- <finger_gripper_name>.grasp_planning_params.world_z_angle_threshold