Grasp Planner Suction 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 length_direction and breadth_direction, these are the perpendicular axes along which the suction cups are arranged. Which direction is length and breadth can be arbitrarily defined, but should be consistent with the definition for the parameters in Grasp Planner Suction Parameters (Physical Attributes)

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

gripper_coordinate_system:
  length_direction: "x"
  breadth_direction: "y"
  grasp_approach_direction: "z"

<suction_gripper_name>.gripper_coordinate_system.length_direction

length_direction: "x"

Description	Axes defining the length direction
Type	String

Warning

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

<suction_gripper_name>.gripper_coordinate_system.breadth_direction

breadth_direction: "y"

Description	Axes defining the breadth direction
Type	String

Warning

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

<suction_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"