Grasp Planner Finger Parameters (Physical Attributes)

The Parameters in this Section specifically defines the physical attributes of the finger gripper. These parameters provide additional flexibility for grasp planner to support a myriad of finger grippers.

The current grasp planner supports linear finger grippers, Where there are two main sides containing the fingers, and grasping motions are paralell to the direction of distribution of fingers

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

<finger_gripper_name>.type

type: finger

Description	Describes gripper type
Type	String

Warning

Do not change this parameter, leave it as finger

<finger_gripper_name>.num_fingers_side_1

num_cups_length: 1

Description	Number of fingers on side 1
Type	Int

Warning

Should be at least 1

<finger_gripper_name>.num_fingers_side_2

num_cups_breadth: 1

Description	Number of fingers on side 2
Type	Int

Warning

Should be at least 1

<finger_gripper_name>.distance_between_fingers_1

distance_between_fingers_1: 0.0

Description	Center-to-center finger distance between fingers in side 1
Type	Double

Warning

If num_fingers_side_1 is 1, set distance_between_fingers_1 as 0.0

<finger_gripper_name>.distance_between_fingers_2

distance_between_fingers_2: 0.0

Description	Center-to-center finger distance between fingers in side 2
Type	Double

Warning

If num_fingers_side_2 is 1, set distance_between_fingers_2 as 0.0

<finger_gripper_name>.finger_thickness

finger_thickness: 0.02

Description	Maximum dimension of the finger (dimensions along the axis perpedicular to the approach direction)
Type	Double

Note

We represent each finger as a sphere, which only requires one dimension, hence the largest dimension of the finger should be provided

<finger_gripper_name>.gripper_stroke

gripper_stroke: 0.105

Description	Distance between both sides of the finger gripper
Type	Double