grasp_planning_node:
ros__parameters:
...
end_effectors:
end_effector_names: [finger_gripper_1, suction_gripper_1]
suction_gripper_1:
type: suction
num_cups_length: 1
num_cups_breadth: 1
dist_between_cups_length: 0.06
dist_between_cups_breadth: 0.06
cup_radius: 0.005
cup_height: 0.01
gripper_coordinate_system:
length_direction: "x"
breadth_direction: "y"
grasp_approach_direction: "z"
grasp_planning_params:
num_sample_along_axis: 3
search_resolution: 0.01
search_angle_resolution: 4
weights:
curvature: 1.0
grasp_distance_to_center: 1.0
number_contact_points: 1.0