Grasp Planner Suction Parameters (Physical Attributes)

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

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

Note

“Length” and “Breadth” elements can be determined by the user, as long as it remains consistent for the whole file

<suction_gripper_name>.type

type: suction

Description	Describes gripper type
Type	String

Warning

Do not change this parameter, leave it as suction

<suction_gripper_name>.num_cups_length

num_cups_length: 1

Description	Number of cups in the length direction
Type	Int

Warning

Should be at least 1

<suction_gripper_name>.num_cups_breadth

num_cups_breadth: 1

Description	Number of cups in the breadth direction
Type	Int

Warning

Should be at least 1

<suction_gripper_name>.dist_between_cups_length

dist_between_cups_length

Description	Center-to-center distance between in the length direction (m)
Type	Double

<suction_gripper_name>.dist_between_cups_breadth

dist_between_cups_breadth

Description	Center-to-center distance between in the breadth direction (m)
Type	Double

<suction_gripper_name>.cup_radius

cup_radius: 0.005

Description	Radius of each suction cup
Type	Double

<suction_gripper_name>.cup_height

cup_height: 0.01

Description	Height of each suction cup
Type	Double