Grasp Planner Finger Parameters (Planning)

These parameters directly affect the grasp planning aspects of the finger gripper.

To find out more about how the grasp is being ranked, go to Grasp Planner Methodology (Finger)

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

<finger_gripper_name>.grasp_planning_params.grasp_plane_dist_limit

num_sample_along_axis: 3

Description	Determine the distance from the grasp plane which to determine the grasp area
Type	Int

Note

The greater the number, the more points included in the grasp area, which increases accuracy, but also increases grasp planning times.

<finger_gripper_name>.grasp_planning_params.voxel_size

search_resolution: 0.01

Description	Determines the voxel size for downsampling of grasp clusters.
Type	Double

This parameter determines how much downsampling is done after grasp clusters are determined.

Note

The smaller the voxel size, the less downsampling is done, which means more grasp samples can be generated, but it means that grasp planning times will increase

<finger_gripper_name>.grasp_planning_params.grasp_rank_weight_1

grasp_rank_weight_1: 1.5

Description	Weight for first ranking portion of finger gripper
Type	Double

<finger_gripper_name>.grasp_planning_params.grasp_rank_weight_2

grasp_rank_weight_2: 1.0

Description	Weight for second ranking portion of finger gripper
Type	Double

<finger_gripper_name>.grasp_planning_params.world_x_angle_threshold

Currently not used

<finger_gripper_name>.grasp_planning_params.world_y_angle_threshold

Currently not used

<finger_gripper_name>.grasp_planning_params.world_z_angle_threshold

Currently not used