Grasp Planner General Parameters (End Effectors)

Parameters that define the end effectors involved in grasp planning. Multiple end effectors can be declared in one config file

grasp_planning_node:
  ros__parameters:
    ....
    end_effectors:
      end_effector_names: [finger_gripper_1, suction_gripper_1]
      finger_gripper_1:
        ....
      suction_gripper_1:
        .....

end_effectors.end_effector_names

end_effector_names: [finger_gripper_1, suction_gripper_1]

Description	The array of names for end effectors used for grasp planning
Type	String array

Note

Make sure the names here matches the name of the end effector in corresponding end effector parameters.