Grasp Planner Finger Parameters (Coordinate Systems)

The parameters in this section provides user the flexibility to define the coordinate system definition for their gripper.

For grasp_approach_direction axis, it is defined as the direction along which the end effector will travel to approach the object to grasp it.

For the grasp_stroke_direction axis, it is defined as the direction from one side of the finger gripper to another, i.e the direction of movement when the finger gripper closes

For the grasp_stroke_normal_direction axis, is defined as the direction perpendicular to both grasp_stroke_direction and grasp_approach_direction.

For this particular configuration below, assuming the RGB-XYZ convention, the coordinate system is defined as the following:

gripper_coordinate_system:
  grasp_stroke_direction: "x"
  grasp_stroke_normal_direction: "y"
  grasp_approach_direction: "z"

<finger_gripper_name>.gripper_coordinate_system.grasp_stroke_direction

length_direction: "x"

Description	Axes defining the grasp stroke direction
Type	String

Warning

Restricted to "x" , "y" or "z"

<finger_gripper_name>.gripper_coordinate_system.grasp_stroke_normal_direction

breadth_direction: "y"

Description	Axes defining the grasp stroke normal direction
Type	String

Warning

Restricted to "x" , "y" or "z"

<finger_gripper_name>.gripper_coordinate_system.grasp_approach_direction

grasp_approach_direction: "z"

Description	Axes defining the grasp approach direction
Type	String

Warning

Restricted to "x" , "y" or "z"